• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• Interaction and multiscale mechanics
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• v.2 no.3
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• pp.321-332
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• 2009

Recent development in composites containing phase-transforming particles, such as vanadium dioxide or barium titanate, reveals the overall stiffness and viscoelastic damping of the composites may be unbounded (Lakes et al. 2001, Jaglinski et al. 2007). Negative stiffness is induced from phase transformation predicted by the Landau phase transformation theory. Although this unbounded phenomenon is theoretically supported with the composite homogenization theory, detailed stress analyses of the composites are still lacking. In this work, we analyze the stress distribution of the Hashin-Shtrikman (HS) composite and its two-dimensional variant, namely a circular inclusion in a square plate, under the assumption that the Young's modulus of the inclusion is negative. Assumption of negative stiffness is a priori in the present analysis. For stress analysis, a closed form solution for the HS model and finite element solutions for the 2D composite are presented. A static loading condition is adopted to estimate the effective modulus of the composites by the ratio of stress to average strain on the loading edges. It is found that the interfacial stresses between the circular inclusion and matrix increase dramatically when the negative stiffness is so tuned that overall stiffness is unbounded. Furthermore, it is found that stress distributions in the inclusion are not uniform, contrary to Eshelby's theorem, which states, for two-phase, infinite composites, the inclusion's stress distribution is uniform when the shape of the inclusion has higher symmetry than an ellipse. The stability of the composites is discussed from the viewpoint of deterioration of perfect interface conditions due to excessive interfacial stresses.

• Interaction and multiscale mechanics
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• v.1 no.1
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• pp.143-156
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• 2008

Elliptical tubes may buckle in an elastic local buckling failure mode under uniform compression. Previous analyses of the local buckling of these members have assumed that the cross-section is hollow, but it is well-known that the local buckling capacity of thin-walled closed sections may be increased by filling them with a rigid medium such as concrete. In many applications, the medium many not necessarily be rigid, and the infill can be considered to be an elastic material which interacts with the buckling of the elliptical tube that surrounds it. This paper uses an energy-based technique to model the buckling of a thin-walled elliptical tube containing an elastic infill, which elucidates the physics of the buckling phenomenon from an engineering mechanics basis, in deference to a less generic finite element approach to the buckling problem. It makes use of the observation that the local buckling in an elliptical tube is localised with respect to the contour of the ellipse in its cross-section, with the localisation being at the region of lowest curvature. The formulation in the paper is algebraic and it leads to solutions that can be determined by implementing simple numerical solution techniques. A further extension of this formulation to a stiffness approach with multiple degrees of buckling freedom is described, and it is shown that using the simple one degree of freedom representation is sufficiently accurate for determining the elastic local buckling coefficient.

• Journal of the Korea Concrete Institute
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• v.27 no.6
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• pp.625-632
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• 2015

In this study, a comparative analysis have been conducted to examine seismic reinforcement effect of a school building that is designed with a CBD (Channel Beam Damper) system supported by H-frame with existing non-seismic RC frame. As a result of experiment, seismic reinforcement specimen with CBD system showed hysteretic characteristics of a large ellipse with great energy dissipation ability and increased strength and stiffness, while non-seismic design specimen showed rapid reduction in strength and brittle shear failure at top and bottom of the left and right column. In addition, comparing the stiffness reduction between the two specimens, CBD system was effective in preventing the reduction of stiffness. Energy dissipation ability of specimen reinforced by CBD system was about 4.0 times higher than the non-reinforced specimen. Such enhancement in energy dissipation ability could be considered as the result of improved strength and deformation for further application in designing of seismic reinforcement.

• Journal of the Korea institute for structural maintenance and inspection
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• v.19 no.6
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• pp.10-17
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• 2015

In this study, to examine seismic reinforcement effect of a school building constructed prior to application of seismic design, a Double I-type damper supported by wall was installed to perform comparative analysis on existing non-seismic designed RC frame. As a result of experiment, while non-seismic designed specimen showed rapid reduction in strength and brittle shear destruction as damages were focused on top and bottom of left and right columns, reinforced specimen showed hysteretic characteristics of a large ellipse with great energy absorption ability, exhibiting perfectly behavior with increased strength and stiffness from damper reinforcement. In addition, as a result of comparing stiffness reduction between the two specimens, specimen reinforced by shear wall type damper was effective in preventing stiffness reduction. Energy dissipation ability of specimen reinforced by Double I-type damper was about 3.5 times as high as energy dissipation ability of non-reinforced specimen. Such enhancement in energy dissipation ability is considered to be the result of improved strength and deformation.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.146-153
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• 2008

본 논문에서는 인간 운동 제어 이론과 기계학습을 기반으로 하여 로봇의 접촉 작업 수행을 위한 새로운 운동 학습 전략을 제시하였다. 성공적인 접촉 작업 수행을 위한 본 연구의 전략은 강화학습 기법을 통하여 최적의 작업 수행을 위한 임피던스 매개 변수를 찾는 것이다. 본 연구에서는 최적의 임피던스 매개 변수를 결정하기 위하여 Recursive Least-Square (RLS) 필터 기반 episodic Natural Actor-Critic 알고리즘이 적용되었다. 본 논문에서는 제안한 전략의 효용성을 증명하기 위해 동역학 시뮬레이션을 수행하였고, 그 결과를 통하여 접촉작업에서의 작업 최적화 및 환경이 가지는 불확실성에 대한 적응성을 보여 주었다.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.5
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• pp.119-126
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• 2022

This study proposed a BCM(Binding Column Method) that can reinforce the insufficient seismic force of piloti buildings that are not designed for seismic resistance. In addition, 4 reinforcement specimens and 1 reference specimen were manufactured for the proposed seismic reinforcement method. The effect of improving seismic performance before and after reinforcement was examined through repeated loading tests. As a result of experiment, seismic reinforcement specimen with BCM system showed hysteretic characteristics of a large ellipse with great energy dissipation ability and increased strength and stiffness, while reference specimen showed rapid reduction in strength and brittle shear failure column. In addition, it can be seen that the reinforcing effect is improved as the gap is narrow, the torque is large, and the thickness of the L-shaped steel sheet is thicker. The SC4 specimen showed the best seismic performance reinforcement effect.