• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Journal of the Korea Concrete Institute
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• v.11 no.4
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• pp.55-62
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• 1999

When stress is beyond elastic limit or cracks occur in a reinforced concrete member subjected to axial force and biaxial bending, curvature about each principal axis of uncracked section is influenced by axial force and bending moments about both major and minor principal axes. It is mainly due to the translation and rotation of principal axes of the cross section after cracking. Recently, by considering these effects, a numerical method predicting the behavior of concrete columns subjected to axial force and biaxial bending was proposed. In this study, in order to verify the proposed numerical method and investigate the effects of cracking on the behavior of reinforced concrete columns, a series of tests were carried out for 16 tied reinforced concrete columns with 100×100 mm square and 200×100 mm rectangular sections under various loading conditions. The angle between the direction of eccentricity and the major principal axis of uncracked section were 0, 30, 40° for the square section and 0, 30, 45, 60, 90° for the rectangular section, respectively. A comparison between numerical predictions and test results shows good agreements in ultimate loads, axial force-lateral deflection relations, and lateral deflection trajectories. It is also found, in this limited investigation, that the ACI's moment magnifier method is conservative in both uniaxial and biaxial loading conditions.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.22 no.11
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• pp.1603-1609
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• 1998

Numerical solutions of Stokes flow through periodic arrays of cylinders were sought using Darcy's law and homogenization theory. Drag and lift forces of each cylinder were computed for various attack angles and pitch-to-diameter ratios. It was found that drag force decreased as principal pressure gradient direction deviated from array direction and that drag force increased exponentially as pitch-to-diameter ratio approached unity. Similar tendency was found in lift force except that lift force increased and then decreased in quadratic manner as attack angle varied.

• Computers and Concrete
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• v.13 no.1
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• pp.49-70
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• 2014

Steel fiber-reinforced concrete (SFRC) is known as one of the efficient modern composites that can greatly enhance the material performance of cracked concrete in tension. Such improved tensile resistance mechanism at crack interfaces in SFRC members can be heavily influenced by methodologies of treatments of crack direction. While most existing studies have focused on developing the numerical analysis model with the rotating-angle theory, there are only few studies on finite element analysis models with the fixed-angle model approach. According to many existing experimental studies, the direction of principal stress rotated after the formation of initial fixed-cracks, but it was also observed that new cracks with completely different angles relative to the initial crack direction very rarely occurred. Therefore, this study introduced the direct tension force transfer model (DTFTM), in which tensile resistance of the fibers at the crack interface can be easily estimated, to the nonlinear finite element analysis algorithm with the fixed-angle theory, and the proposed model was also verified by comparing the analysis results to the SFRC shear panel test results. The secant modulus method adopted in this study for iterative calculations in nonlinear finite element analysis showed highly stable and fast convergence capability when it was applied to the fixed-angle theory. The deviation angle between the principal stress direction and the fixed-crack direction significantly increased as the tensile stresses in the steel fibers at crack interfaces increased, which implies that the deviation angle is very important in the estimation of the shear behavior of SFRC members.

• Geomechanics and Engineering
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• v.13 no.6
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• pp.907-928
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• 2017

The effects of seepage force and out-of-plane stress on cavity contracting and tunnel opening was investigated in this study. The generalized Hoek-Brown (H-B) failure criterion and non-associated flow rule were adopted. Because of the complex solution of pore pressure in an arbitrary direction, only the pore pressure through the radial direction was assumed in this paper. In order to investigate the effect of out-of-plane stress and seepage force on the cavity contraction and circular tunnel opening, three cases of the out-of-plane stress being the minor, intermediate, or major principal stress are assumed separately. A method of plane strain problem is adopted to obtain the stress and strain for cavity contracting and circular tunnel opening for three cases, respectively, that incorporated the effects of seepage force. The proposed solutions were validated by the published results and the correction is verified. Several cases were analyzed, and parameter studies were conducted to highlight the effects of seepage force, H-B constants, and out-of-plane stress on stress, displacement, and plastic radius with the numerical method. The proposed method may be used to address the complex problems of cavity contraction and tunnel opening in rock mass.

• Journal of Institute of Convergence Technology
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• v.11 no.1
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• pp.7-12
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• 2021

The magnetic gear, which amplifies the torque by filtering the magnetic field generated by the low-speed permanent magnet with a modulator, can exclude gear contact and can be effectively applied when there are environmental restrictions. In this paper, we discuss the magnetic force characteristics of a magnetic gear using a magnetic focusing array that replaces a general permanent magnet array magnetized in a radial direction along the circumferential direction. The torque increasing effect of the discussed array, known as an arrangement that increases the principal component by focusing a radial magnetic field, is compared with that of a general magnetic gear. In particular, in a magnetic gear using such an array, the sensitivity of torque according to variables is analyzed to see how various variables known as factors affecting torque have an effect.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.198-208
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• 1996

The plunge joints of C.V. Joint for vehicle tend to produce a cyclic axial disturbance at a frequency of three of six times shaft speed, in which this distrubance caused by internal frictional effect is related to joint angle, rotational speed, torque, and joint size. This principal axial thrust force might make vehicle shuddered when coinciding with vehicle frequency of tranverse direction, and be one of reasons to have driver feel uncomfortable, unesay, while driving vehicle. The paper makes analysis of axial thrust force & vehicle shudder through computer simulation, comparing the result with experimental data, and reviewing the effect by changing of variables such as dimensions and driving conditions.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.871-877
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• 2006

물체의 반사(specular reflection)는 물체의 재질 및 기하학적 모양을 표현하는데 있어 매우중요한 요소이다. 사진품질의 사실적 렌더링에서는 기존의 국소 반사 모델을 사용하여 좋은 결과를 얻을 수 있지만, 사용자의 주관이 중시되는 비사실적 렌더링(non-photorealistic rendering)에서는 사용자가 원하는 반사 효과를 표현할 수 있어야 한다. 텍스처는 사용자가 직관적으로 원하는 반사 효과를 표현할 수 있는 수단이며, 이를 모델에 투영하면 원하는 반사효과를 얻을 수 있다. 이 때 사용자는 텍스처가 투영될 위치와 크기, 방향을 직접 키프레임으로 정해 줄 수 있다. 그러나 모든 반사 효과를 사용자가 직접 정해준다는 것은 번거로운 일이며, 실시간 응용분야에는 적용할 수 없다. 본 논문에서는 국소반사모델(local reflection model)과 주곡률(principal curvature) 해석을 통해 반사효과의 위치, 방향, 크기를 결정하기 위한 텍스처 투영기의 새로운 설정 방법을 제시한다. 광원과 시점 정보를 사용하여 투영기의 위치를 정하고 물체의 주방향(principal direction)과 곡률반지름(radius of curvature)을 이용하여 투영기의 방향과 투영 피라미드의 크기를 정한다 텍스처 투영기의 단순한 이동, 회전을 통하여 반사 영역의 이동, 회전 및 확대/축소가 가능하다. 본 논문에서 제시한 방법은 DirectX 9.0c와 프로그래이 가능한 셰이더 2.0을 사용하여 GeForce FX 7800 그래픽 카드에 구현되었다. 본 논문의 연구 결과는 게임과 같은 실시간 응용분야에 사용될 수 있으며, 실험 결과에 의하면 수천 개의 다면체 모델에 대한 렌더링을 실시간에 수행할 수 있다.

• Journal of the Korea Concrete Institute
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• v.19 no.6
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• pp.685-692
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• 2007

When the shear force governs the response of an RC element, as in the case of a low-rise shear wall, the effect of shear on the element's response is thought to be responsible for the 'pinching effect' in the hysteretic loops. However, it was recently shown that this undesirable pinching effect can be eliminated in the hysteretic load-deformation curves of a shear-dominant element if the steel grid orientation is properly aligned in the direction of the applied principal stresses. In this paper, the presence and absence of the pinching mechanism in the hysteretic loops of the shear stress-strain curves of RC elements was explained rationally using a compatibility aided truss model. The analytical results indicate that the pinching effect of the RC elements is strongly related to the direction of the steel arrangement. The area of the energy dissertation does not increase proportionally to the difference between the direction of the principal compressive stress and the direction of the steel arrangement.

• Journal of Auto-vehicle Safety Association
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• v.12 no.3
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• pp.52-60
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• 2020

Usage of EDR(Event Data Recorder) report for traffic accident analysis is currently increasing due to government regulation of EDR data release. Nevertheless, a lot of investigators simply adopt by comparing the number of ignition cycles(crash) at event to the number of ignition cycles(download) without an exact judgment whether event data occurred by this accident or not. In the EDR report, besides ignition cycles, there are many factors such as event record type, algorithm active(rear/rollover/side/frontal), time between events, event severity status(rollover/rear/right side/reft side/frontal), belt switch circuit status, driver/passenger pretensioner/air-bag deployment, PDOF(Principal Direction of Force) by ΔV to be able to decide whether or not to adopt. also the event data is considered enough to vehicle damaged state, accident situation at the scene of the accident. and there is described in "all data should be examined in conjunction with other available physical evidence from the vehicle and scene" in the CDR(Crash Data Retrieval) report. Therefore many investigators have to decide whether or not to adopt after they consider sufficiently to above factors when they are the traffic accident analysis and investigate the causes of a accident on the adopted event data. In this paper, we report to traffic accident investigators notable points and analysis methods on the basis of thousands of cases and the results of one's own experiment in NFS(National Forensic Service).