• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of the Korean Society of Visualization
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• v.10 no.1
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• pp.40-46
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• 2012

Recently micro shock tube is extensively being used in many diverse fields of engineering applications but the detailed flow physics involved in it is hardly known due to high Knudsen number and strong compressibility effects. Unlike the macro shock tube, the surface area to volume ratio for a micro shock tube is very large. This unique effect brings many complexities into the flow physics that makes the micro shock tube different compared with the macro shock tube. In micro shock tube, the inter- molecular forces of working gas can play an important role in specifying the flow characteristics of the unsteady shock wave flow which is essentially generated in all kinds of shock tubes. In the present study, a CFD method was used to predict and visualize the unsteady shock wave flows using the unsteady compressible Navier-Stokes equations, furnished with the no-slip and slip wall boundary conditions. Maxwell's slip equations were used to mathematically model the shock movement at high Knudsen number. The present CFD results show that the propagation speed of the shock wave is directly proportional to the initial pressure and diameter of micro shock tube.

• Tribology and Lubricants
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• v.31 no.1
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• pp.6-12
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• 2015

This paper investigates the stick-slip characteristic of magnetorheological elastomer (MRE) between an aluminum plate and the surface of the MRE. MRE is a smart material and it can change its mechanical behavior with the interior iron particles under the influence of an applied magnetic field. Stick-slip is a movement of two surfaces relative to each other that proceeds as a series of jerks caused by alternate sticking from friction and sliding when the friction is overcome by an applied force. This special tribology phenomenon can lead to unnecessary wear, vibration, noise, and reduced service life of work piece. The stick-slip phenomenon is avoided as far as possible in the field of mechanical engineering. As this phenomenon is a function of material property, applied load, and velocity, it can be controlled using the characteristics of MRE. MRE as a soft smart material, whose mechanical properties such as modulus and stiffness can be changed via the strength of an external magnetic field, has been widely studied as a prospective replacement for general rubber in the mechanical domain. In this study, friction force is measured under different loads, speed, and magnetic field strength. From the test results, it is confirmed that the stick-slip phenomenon can be minimized under optimum conditions and can be applied in various mechanical components.

• Journal of the Korean GEO-environmental Society
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• v.8 no.2
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• pp.11-18
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• 2007

Slope failure triggered by rainfall produces severe effects on the serviceability and stability of railway, Therefore, slope stability problem is one of the major concerns on the operation of railway. In this study, the rainfall conditions triggering slopes failure adjacent to railroads are investigated and the numerical analysis approach in consideration of infiltration and limit equilibrium method based upon multiple slip surfaces are proposed. The rainfall conditions triggering slope failure are as follow: cumulative rainfall is in the range of 150~500 mm, and duration is from 3 to 24 hours. Base upon the rainfall conditions, infiltration analysis and limit equilibrium method for infinite slope condition are carried out. The depth of infinite slope is assumed as 2 m and the multiple slip surfaces modeled with 16.7 cm interval from the bottom slip surface located at the 2 m depth. The assumed bottom slip surface is the location at which factor of safety is converging. The proposed approach shows more reasonable results than the results from the general codes assuming water table at slope surface. In addition, three dimensional plot of cumulative rainfall, rainfall duration, and factor of safety shows that slope stability analysis in consideration of rainfalll must account for cumulative rainfall (rainfall duration).

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3A
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• pp.513-521
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• 2006

Many studies have been conducted on the high tension bolt friction connection in the view of the field practice. Those effort, however, unfortunately have not been appropriately applied in the design specifications. Recently, particularly for steel bridges, rationalization of design takes greater attention from designers and hence, demand on rationalization of high tension connection becomes more significant. The purpose of this study is to suggest direction for the rationalization of high tension bolt connection and to also provide fundamental information for the improvement of the design specifications. In order to accomplish the purposes, the design specifications in Korea was analyzed and compared with other specification from abroad, and was studied one of the most important factors including slip coefficient, and the specifications on the size of bolt holes. The effect of over-sized bolt hole and the reduction of axial force on bolt was evaluated through the experimental studies on the slippage of the high tension bolt connections. Other research topics included herein includes the difference of slip coefficients, the effect of over-sized bolt holes and the gap distance of members, and the application of filler plate and corrosion protected bolts. From the research results, it is known that the specifications in Korea apply a constant slip coefficient with respect to the contacted surface conditions while various coefficients are available depending on the contacted surface conditions. Therefore, it is recommended that the specifications in Korea also develop and detail the slip coefficient which can appropriately take account of the variation of the contacted surface conditions. It is also suggested that the limitation abroad on the over-sized bolt hole may be applied for enhancing the effectiveness of construction.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.1
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• pp.1-12
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• 2004

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.233.2-233.2
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• 2005

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.9 no.4
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• pp.165-175
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• 1997

This study qualitatively reviewed effect of the height of loading and the ratio of penetration on. the characteristics of deformation of cellular bulkhead by performing a model test of embedded steel plate cellular bulkhead which had different loading height and penetration ratio. And we also examined the effect of the loading height upon the shear behavior by performing two-dimensional model test making use of aluminum rods for a filler. Besides, test results and theoretical values based on Hansen's earth pressure theory were compared and reviewed. In consequence, it was ascertained that the yield moment of cells depended on the height of loading and the ratio of penetration, and the slip surface was located on the lower area of a cell interior according as the height of loading becomes lower. The theoretical consideration which was based on the theory of earth pressure proposed by Hansen revealed that the test results accorded with the theoretical values to some degree, and the same results were derived about the location change of the slip surface.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.3C
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• pp.113-120
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• 2012

An actual slope failure was analyzed in residual soils at Jinju. Due to rainfall infiltration, the safety factor decreases in the unsaturated layers, since the effective stress and shear strength decrease. In this study, the effective stress is based on suction stress using soil water retention curve. Unsaturated properties were evaluated on soil water retention curve, hydraulic conductivity and shear strength with samples from the site. After infiltration analysis of unsaturated flow under the actual rainfall, the distribution of pore water pressure could be calculated in the slope layers. In the stress field of finite elements, an elastic analysis calculated total stress distribution in the layers and also shear stresses on the slip surface using elastic model. On the slip surface, suction stress and effective stress evaluated the shear strength. As a result, the factor of safety was calculated due to rainfall, which could simulate the actual slope failure. In particular, it was found that the suction stress increases and both the effective stress and the shear strength decrease simultaneously on the slip surface.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.5A
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• pp.691-697
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• 2008

Coating the high tension bolted frictional joint has been generally allowed for anti-corrosion purpose. However in case of painting on paying surface of the high tension bolt, the influence on a slip strength of the joint depending on precision of painting has remained controversial. The study thus was intended to identify the slip behavior on high tension bolted frictional joint when applying ceramic painting, which has been currently developed. A slip test was conducted on a high tension bolted frictional joint specimen on which ceramic painting has been applied and a slip load and slip coefficient were measured. Based on result, the safety and usability of ceramic painting-applied high tension bolted frictional joint was evaluated. As a result, a difference to some extent by specimen in terms of load-displacement when a slip occurred was observed but an average slip coefficient appeared to have exceeded 0.4, which is the design frictional coefficient set forth in the specification. To secure the safety and usability of ceramic painting-applied high tension bolted frictional joint, it's necessary to establish the standard for painting as well as to revise the relevant specification.