• Geotechnical Engineering
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• v.11 no.2
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• pp.139-156
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• 1995

A set of field investigations was performed to estimate accurately the predominant periods of seismic 8round motions and the attenuation characteristics of the seismic ground vibration. Predominant periods of ground motions were estimated from the measurement of the continuous microseismic vibratins of certain periods, inherent in the ground and in the buildings, utilizing the high sensitivity digital velocity seismometer consisting of 3-component geophones and a digital seismograph. Estimated predominant periods of microseismic vibraion of the ground(measured on'the ground surface) and the building (measured on the second floor) were in the range of 0.18~0.235 sec. and 0.26~0.31 sec. respectively. The subsurface structure of the site ground was surveyed by the seismic refraction method utilizing the digital seismicwave probing system. The ground structure was found to be a two-layered system : an upper top soil layer of 7m in thickness with the P-wave velocity of 662m1sec and a lower layer of silty-clayey soils with the P -wave velocity of 2210m1 sec. The attenuation characteristics of the seismic ground vibrations were determined by the amplitude decay measurement method us;ng the Seisgun, which produces strong artificial seismic energy. Measured spatial attenuation coefficients of the ground vibration in vertical(Z) longitudinal(X), transverse(Y) direction were 0.1137, 0.0025, and 0.0290 respectively. Estimated Spartial QP's (inverse of the specific dissipation constant w.r.t. shear waved of X, Y, and Z directions were in the range of 5.913~7.575, 32.371~41.452, 2.794~3.579 re spectively. This indicates that aseimic design of the structures on the site should take stronger consideration regarding the earthquake resistance characteristics of the structures against longitudinal ground motion.

• The Journal of Korean Physical Therapy
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• v.26 no.6
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• pp.449-452
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• 2014

Purpose: The purpose of this study was to analyze the coordination between trunk flexion and lower limb extension contributing to vertical propulsion during sit-to-stand (STS) at different chair heights in the elderly. Methods: Ten elderly subjects were asked to stand up at their natural speed from different chair heights : (1) $90^{\circ}$ knee flexion; (2) $100^{\circ}$ knee flexion; (3) $110^{\circ}$ knee flexion; and (4) $120^{\circ}$ knee flexion. A standard chair without a backrest or armrests was used in this study. To remove inertial effects of upper limb movements, subjects were asked to stand up from a chair with their arms crossed at the chest. Mean of results of three trials were used in the analysis at different knee flexion angles. Distances moved by the shoulder for compensatory trunk movement was recorded by motion analysis and vertical force was recorded under foot using force plates. Distances moved by the shoulder and vertical ground reaction force measurements were analyzed using repeated ANOVA. Results: Distances moved by the shoulder significantly decreased with higher chair (p<0.05). Vertical forces were not significant difference on chair heights (p>0.05), but results of pairwise comparisons for vertical force revealed significant difference between $90^{\circ}$ knee flexion and $120^{\circ}$ knee flexion (p<0.05). Conclusion: Trunk movement is probably used as a compensatory mechanism at low chair heights to increase lift-off from sitting by the elderly.

• Geomechanics and Engineering
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• v.38 no.4
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• pp.421-437
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• 2024

The soil nailing method entails the utilisation of nails to reinforce and stabilise a zone of soil mass. This is widely used for various applications due to its effective performance under various loading conditions. The seismic response of 6m high vertical soil-nailed cut in various site classes under dynamic excitations has been investigated in this study considering various lengths and inclinations of nails. The influence of frequency content of dynamic excitation on the response of structure has been assessed through finite element analysis using time history data of three different earthquakes. The seismic stability of the nailed cut in retaining soil in various sites under El Centro, Kobe and Trinidad earthquake ground motion is evaluated based on maximum acceleration response, maximum horizontal deformation, earth pressure distribution on the wall and maximum axial force mobilised in nails. The optimum nail inclination is identified as 15° and a minimum nail length ratio of 0.7 is essential for a stable vertical cut under dynamic excitations.

• Economic and Environmental Geology
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• v.31 no.1
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• pp.53-57
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• 1998

Transient electromagnetic (TEM) method is also affected by cultural and natural electromagnetic (EM) noises, since it uses part of the broadband ($10^{-2}$ to $10^5Hz$) spectrum. Especially, predominant EM noise which affects a moving transmitter-receiver TEM system is sensor motion-induced noise. This noise is caused by the sensor motion in the earth magnetic field. The technique for reducing the sensor motion-induced EM noise presented in this paper is based on Halverson stacking. This Halverson stacking is generally used in a time-domain induced polarisation (IP) system to reject DC offset and linear drift. According to spectrum analysis of the vertical component of sensor motion-induced noise, the frequency range affected by the motion of an EM sensor is less than about 700 Hz in this study. With the decrease of the frequency, the spectral power caused by the motion of a sensor increases. For example, at the frequency of 200 Hz, the spectral power of the sensor motion-induced noise is $-90dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$, and at the frequency of 100 Hz, the spectral power of the sensor motion-induced noise is $-70dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$. With applying Halverson stacking to an artificial noise transient generated by adding a noise-free transient to sensor motion-induced noise measured without pulsing, it is shown that the filtered transient is nearly consistent with the noise-free transient within a delay time of $0.5{{\mu}sec}$. The inversion obtained from this filtered transient is in accord with the true model with an error of 5%.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.64-71
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• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1802-1807
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• 2004

When a construction company builds a high structure, many piles should be driven into the ground by a hammer whose weight is 7,000 Kg in order to make the ground under the structure safe and strong. So, it is essential to determine whether a pile is penetrated into the ground enough to support the weight of the structure since ground characteristics at different locations are different each other. This paper proposes a visual measurement system for pile rebound and penetration movement including vibration using a high-speed line-scan camera and a specially designed mark to recognize two-dimensional motion parameters of the mark using only a line-scan camera. A mark stacking white and black right-angled triangles is used for the measurement, and movement information for vertical distance, horizontal distance and rotational angle is determined simultaneously

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Computers and Concrete
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• v.16 no.1
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• pp.99-123
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• 2015

In this study, structural vulnerability of reinforced concrete moment resisting frames (RC-MRFs) by considering the Iran-specific characteristics is investigated to manage the earthquake risk in terms of multicomponent seismic excitations. Low and medium rise RC-MRFs, which constitute approximately 80-90% of the total buildings stock in Iran, are focused in this fragility-based assessment. The seismic design of 3-12 story RC-MRFs are carried out according to the Iranian Code of Practice for Seismic Resistant Design of Buildings (Standard No. 2800), and the analytical models are formed accordingly in open source nonlinear platforms. Frame structures are categorized in three subclasses according to the specific characteristics of construction practice and the observed seismic performance after major earthquakes in Iran. Both far and near fields' ground motions have been considered in the fragility estimation. An optimal intensity measure (IM) called Sa, avg and beta probability distribution were used to obtain reliable fragility-based database for earthquake damage and loss estimation of RC buildings stock in urban areas of Iran. Nonlinear incremental dynamic analyses by means of lumped-parameter based structural models have been simulated and performed to extract the fragility curves. Approximate confidence bounds are developed to represent the epistemic uncertainties inherent in the fragility estimations. Consequently, it's shown that including vertical ground motion in the analysis is highly recommended for reliable seismic assessment of RC buildings.

• Physical Therapy Korea
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• v.9 no.3
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• pp.39-46
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• 2002

In this study, vertical acceleration of center of mass was observed along normal gait phases in 9 healthy male volunteers (aged $25.7{\pm}2.18$). The developed wireless accelerometric device was attached on the intervertebral space between L3 and L4 using a semi-elastic waist belt. A three-dimensional motion analysis system, synchronized with the accelerometry, was used for detecting gait phases. There was no significant correlation between the body weight and the acceleration. The first peak curve covered loading response phase. The second downward peak point was matched accurately with the opposite toe-off. In mid-stance and terminal stance, the acceleration curve highly resembled the vertical ground reaction force curve. There was no significant difference in timing between the final upward peak point and the initial contact. Therefore, the developed accelerometry system would be helpful in determining determine temporal gait pattems in patients with gait disorders.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.