• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2003.05a
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• pp.183-188
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• 2003

The present work was conducted to build a propulsion system for an airship. For this purpose, free shaft gas-turbine was modified to produce electrical power. he experiments were carried out to analyze the driving rotor condition at various power shaft loads. From this analysis, an appropriate damping device was required, and the changeable inertial moment from the fly-wheel was applied. Without the appropriate damping device, instability was found, and it was resulted as power loss. Also the amount of inertial moment was certified by the performance of dynamic transient effects from the engine test results. Knowledge gained from this research could benefit the propulsion and power conversion community by increasing the better understanding of shaft loads and inertial effects.

• Earthquakes and Structures
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• v.7 no.6
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• pp.1001-1024
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• 2014

The size of spread footings was found to be unnecessarily large from some actual engineering practices constructed in Taiwan, due to the strict design provisions related to footing uplift. According to the earlier design code in Taiwan, the footing uplift involving separation of footing from subsoil was permitted to be only up to one-half of the foundation base area, as the applied moment reaches the value of plastic moment capacity of the column. The reason for this provision was that rocking of spread footings was not a favorable mechanism. However, recent research has indicated that rocking itself may not be detrimental to seismic performance and, in fact, may act as a form of seismic isolation mechanism. In order to clarify the effects of the relative strength between column and foundation on the rocking behavior of a column, six circular reinforced concrete (RC) columns were designed and constructed and a series of rocking experiments were performed. During the tests, columns rested on a rubber pad to allow rocking to take place. Experimental variables included the dimensions of the footings, the strength and ductility capacity of the columns and the intensity of the applied earthquake. Experimental data for the six circular RC columns subjected to quasi-static and pseudo-dynamic loading are presented. Results of each cyclic loading test are compared against the benchmark test with fixed-base conditions. By comparing the experimental responses of the specimens with different design details, a key parameter of rocking behavior related to footing size and column strength is identified. For a properly designed column with the parameter higher than 1, the beneficial effects of rocking in reducing ductility and the strength demand of columns is verified.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.5
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• pp.429-437
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• 2008

In this study the progressive collapse potential of braced frames were investigated using the nonlinear static and dynamic analyses. All of nine different brace types were considered along with a special moment-resisting frame for comparison. According to the pushdown analysis results, most braced frames designed per current design codes satisfied the design guidelines for progressive collapse initiated by loss of a first story mid-column; however most model structures showed brittle failure mode. This was caused by buckling of columns after compressive braces buckled. Among the braced frames considered, the inverted- V type braced frames showed superior ductile behavior during progressive collapse. The nonlinear dynamic analysis results showed that all the braced frame model structures remained in stable condition after sudden removal of a column, and their deflections were less than that of the moment-resisting frame.

• Earthquakes and Structures
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• v.20 no.2
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• pp.215-224
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• 2021

The carbon dioxide present in the atmosphere is one of the main reasons for the corrosion of bridges, buildings, tunnels, and other reinforced concrete (RC) structures in most industrialized countries. With the growing use of fossil fuels in the world since the Industrial Revolution, the amount of carbon dioxide in urban and industrial areas of the world has grown significantly, which increases the chance of corrosion caused by carbonation. The process of corrosion leads to a change in mechanical properties of rebars and concrete, and consequently, detrimentally impacting load-bearing capacity and seismic behavior of RC structures. Neglecting this phenomenon can trigger misleading results in the form of underestimating the seismic performance metrics. Therefore, studying the carbonation corrosion influence on the seismic behavior of RC structures in urban and industrial areas is of great significance. In this study, a 2D modern RC moment frame is developed to study and assess the effect of carbonation corrosion, in 5-year intervals, for a 50 years lifetime under two different environmental conditions. This is achieved using the nonlinear static and incremental dynamic analysis (IDA) to evaluate the reinforcement corrosion effects. The reduction in the seismic capacity and performance of the reinforced concrete frame, as well as the collapse probability over the lifetime for different corrosion scenarios, is examined through the capacity curves obtained from nonlinear static analysis and the fragility curves obtained from IDA.

• Journal of the Korea Convergence Society
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• v.13 no.4
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• pp.307-313
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• 2022

The importance of engine vibration reduction is increasing as the vehicle interior noise becomes more serious due to higher output and lighten weight trends. Recently, the balance shaft attachment has been proposed as a representative method for the engine vibration reduction. The balance shaft is a device that cancels the vibrations generated in the reciprocating motion of the piston and the conrod by using an arbitrary eccentric mass, and can improve fuel efficiency and ride comfort at the same time. This paper proposes the unbalance amount and shape of the balance shaft to induce and offset the inertia force generated by the engine structure. The proposed two-shaped balance shaft was implemented as an ADAMS multi-body dynamics model, and the reduction of the inertial force in the actual behavior was confirmed through dynamic simulation.

• Structural Engineering and Mechanics
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• v.11 no.6
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• pp.663-672
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• 2001

Numerous failures in welded connections in steel moment-resisting building frames (SMRF) were observed when buildings were inspected after the 1994 Northridge Earthquake. These observations raised concerns about the effectiveness of such frames for resisting strong earthquake ground motions. The behavior of SMRFs during an earthquake must be assessed using nonlinear dynamic analysis, and such assessments must permit the deterioration in connection strength to capture the behavior of the frame. The uncertainties that underlie both structural and dynamic loading also need to be included in the analysis process. This paper describes the analysis of one of approximately 200 SMRFs that suffered damage to its welded beam-to-column connections from the Northridge Earthquake is evaluated. Nonlinear static and dynamic analysis of this SMRF in the time domain is performed using ground motions representing the Northridge Earthquake. Subsequently, a detailed uncertainty analysis is conducted for the building using an ensemble of earthquake ground motions. Probability distributions for deformation-related limit states, described in terms of maximum roof displacement or interstory drift, are constructed. Building fragilities that are useful for condition assessment of damaged building structures and for performance-based design are developed from these distributions.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Journal of the Earthquake Engineering Society of Korea
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• v.22 no.6
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• pp.311-322
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• 2018

As a method of seismic-design for pile-supported wharves, equivalent static analysis, response spectrum analysis, and time history analysis method are applied. Among them, the response spectrum analysis is widely used to obtain the maximum response of a structure. Because the ground is not modeled in the response spectrum analysis of pile-supported wharves, the amplified input ground acceleration should be calculated by ground classification or seismic response analysis. However, it is difficult to calculate the input ground acceleration through ground classification because the pile-supported wharf is build on inclined ground, the methods to calculate the input ground acceleration proposed in the standards are different. Therefore, in this study, the dynamic centrifuge model tests and the response spectrum analysis were carried out to calculate the appropriate input ground acceleration. The pile moment in response spectrum analysis and the dynamic centrifuge model tests were compared. As a result of comparison, it was shown that the response spectrum analysis results using the amplified acceleration in the ground surface were appropriate.

• Journal of the Korea institute for structural maintenance and inspection
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• v.8 no.2
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• pp.231-238
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• 2004

The deterioration of the flexural capacity by progressive crack and over deflection in R/C bridges is developed actually from the dynamic repeated loading due to vehicle traffics. Such a fact suggest a necessities of confirmation and estimation of the data acquired from monotonic incremental loading test. Therefore, this study carry out the monotonic incremental loading test and dynamic repeated loading test in R/C beams strengthened with CFS. By dynamic repeated loading test, the experiments confirmed the validities and fittness of the results acquired from monotonic incremental loading test and estimated the characteristics of the moment-curvature, degradation of the flexural rigidity, crack and failure.