• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.115-126
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• 1996

In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

• Wind and Structures
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• v.4 no.1
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• pp.63-72
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• 2001

This paper presents results of a study on wind loads and wind induced dynamic response of bridge jointed twin-towered buildings. Utilizing the high-frequency force balance technique, the drag and moment coefficients measured in wind tunnel tests, and the maximum acceleration rms values on the top floor of towers, are analyzed to examine the influence of building's plan shapes and of intervals between towers. The alongwind, acrosswind and torsional modal force spectra are investigated for generic bridge jointed twin-towered building models which cover twin squares, twin rhombuses, twin triangles, twin triangles with sharp corners cut off, twin rectangles and individual rectangle with the same outline aspect ratio as the twin rectangles. The analysis of the statistical correlation among three components of the aerodynamic force corroborated that the correlation between acrosswind and torsional forces is significant for bridge jointed twin-towered buildings.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.07a
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• pp.1047-1049
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• 2001

The displacemant current measuring system used for detecting the dynamic behavior of monolayers at the air-water interface is described. It basically consists of a film balance, a pair of electrodes connected to each other through a sensitive ammeter. Here, one electrode is suspended in air and the other electrode is placed in the water. With Maxwell-displacement-current-measuring method, the phase transitions of Poly-${\gamma}$ -benzyl D-glutamate(PBDG) on a water surface were detected. Measured surface pressure, displacement current and dipole moment of monolayers of PBDG on the water surface. We measured analyzed displacement current that occur when differed temperature. Could know that displacement current is proportional in increase of temperature and great as experiment result.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.129-134
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• 2003

It is very important to pay careful attention to construction of bridge/earthwork transition zone for high-speed railway. The transition zone of the railway is the section which roadbed stiffness is suddenly varied. Differences in stiffness have dynamic effects and these increase the forces in the track and the extent of deformation. An abrupt change of stiffness across two adjacent track portions cause irregular settlement of roadbed, track irregularity, lack of girder bending moment and reduction of lateral resistance. Especially on high-speed railway, track irregularity of transition zone cause sincere effect to track stability and train safety. And so continuous maintenance is needed. To verify this effect and to improve transiton zone capacity, In situ test, track irregularity and train acceleration test were performed on high-speed railway bridge/earthwork Transiton Zone.

• Steel and Composite Structures
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• v.13 no.1
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• pp.1-13
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• 2012

In this study, a new structural bracing system named 'Hat Knee Bracing' (HKB) is presented. In this structural system, a special form of diagonal braces, which is connected to the knee elements instead of beam-column joints, is investigated. The diagonal elements provide lateral stiffness during moderate earthquakes. However the knee elements, which is a fuse-like component, is designed to have one plastic joint in the knee elements for dissipation of the energy caused by strong earthquake. First, a suitable shape for brace and knee elements is proposed through elastic studying of the system and several practical parameters are established. Afterward, by developing applicable and highly accurate models in Drain-2DX, the inelastic behavior of the system is carefully considered. In addition, with inelastic study of the new bracing system and comparison with the prevalent Knee Bracing Frame system (KBF model) in nonlinear static and dynamic analysis, the seismic behavior of the new bracing system is reasonably evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.10a
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• pp.503-510
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• 2004

One of the methods improving the seismic behavior of a structure is the frame with reduced beam section (RBS) which cuts a segment of flanges of the beam near the beam-to-column connection so that the section with reduced flanges has smaller flexural strength than the beam end. It is difficult to analyze the RBS frame because RBS portion has circular-cut type flange. And inelastic response of the steel frame with the RBS is very sensitive to the RBS model. In this paper, the analytical models of RBS portion are investigated and the results of the inelastic analysis for RBS analytical models are compared and then the analytical model for RBS is determined based on the results of inelastic analysis. Inelastic behavior of the RBS frame and its dynamic characteristics are investigated for selected analytical model of RBS.

• Steel and Composite Structures
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• v.6 no.6
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• pp.479-491
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• 2006

Structures in seismic regions are designed to dissipate seismic energy input through inelastic deformations. Structural or component failure occurs when the hysteretic energy demand for a structure or component subject to an earthquake ground motion (EQGM) exceeds its hysteretic energy dissipation capacity. This paper presents a study on identifying the hysteretic energy demand and distribution throughout the height of regular steel moment resisting frames (SMRFs) subject to severe EQGMs. For this purpose, non-linear dynamic time history (NDTH) analyses were carried out on regular low-, medium-, and high-rise steel SMRFs. An ensemble of ninety EQGMs recorded on different soil types was used in the study. The results show that the hysteretic energy demand decreases from the bottom stories to the upper stories and for high-rise structures, most of the hysteretic energy is dissipated by the bottom stories. The decrease is quite significant, especially, for medium- and high-rise structures.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.301-303
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• 2001

This paper deals with the biped robot gait on changing the initial postures. Gait of a biped robot depends on the constraints of mechanical kinematics and initial posture. Also biped robot's dynamic walking stability is investigated by ZMP(Zero Moment Point). The path trajectory. with the knee joint bent like a human, is generated and applied with the above considerations. To decrease trajectory tracking error, in this paper, a new initial posture similar to bird's case is proposed and realized with the real robot.