• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2271-2274
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• 2005

The desired ZMP is different from the actual ZMP of a humanoid robot during actual walking and stand upright. A humanoid robot must maintain its stable posture although external force is given to the robot. A humanoid robot can know its stability with ZMP. Actual ZMP may be moved out of the foot-print polygons by external disturbance or uneven ground surfaces. If the position of ZMP moves out of stable region, the stability can not be guaranteed. Therefore, The control of the ZMP is necessary. In this paper, ZMP control algorithm is proposed. Herein, the ZMP control uses difference between desired ZMP and actual ZMP. The proposed algorithm gives reaction moment with ankle joint when external force is supplied. 3D simulator shows motion of a humanoid robot and calculated data.

• 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 Korea Concrete Institute Conference
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• 2005.11a
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• pp.271-274
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• 2005

Existing strut-and-tie model cannot be applied to analysis of slender beams without shear reinforcement because shear transfer mechanism is not formed. In the present study, a new strut-and-tie model with rigid joint was developed. Basically, concrete strut is modeled as a frame element which can transfer shear force (or moment) as well as axial force. Employing Rankine failure criterion, failure strength due to shear-tension and shear-compression developed in compressive concrete strut was defined. For verification, various test specimens were analyzed and the results were compared with tests. The proposed strut-and-tie model predicted shear strength and failure displacement with reasonable precision, addressing the design parameters such as shear reinforcement, concrete compressive strength, and shear span ratio.

• Proceedings of the Korea Concrete Institute Conference
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• 2006.05a
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• pp.406-409
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• 2006

Serviceability resign is required to control the cracking at the joint of precast decks having longitudinal prestress in continuous composite bridges. Especially, details of twin girder bridges are complex not only due to main reinforcements and transverse prestress for the resign of long-span concrete slabs but also due to shear pockets for obtaining the composite action. This paper suggests the design guidelines for the magnitude of the effective prestress and for the selection of filling materials and their requirements in order to use precast decks for twin-girder continuous composite bridges. The necessary initial prestress was also evaluated through the long-term behavior analysis. From the analysis, existing design examples were revised and their effectiveness was estimated. When a filling material having bonding strength higher than the requirement is used in the region of high negative moment, uniform configuration of longitudinal prestressing steels along the whole span length of continuous composite bridges can be achieved resulting in simplification of details and enhancement of the construction costs.

• Proceedings of the Korea Concrete Institute Conference
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• 2009.05a
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• pp.29-30
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• 2009

In this study, analyzing loads transferred to the piles, both easily constructed and mechanically improved pile head design method for the PHC pile is presented. To compare with mechanical capacity of the existing and proposed method, tensile, compression, moment, and shear tests are performed with 11 pieces of full-scaled blocks. As a result, mechanical capacities of the proposed method is superior to those of existing one in all aspects and work efficiency as well.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.728-733
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• 2009

This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.610-618
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• 2001

Pantograph, which collects current from cartenary system, is one of the important parts of high-speed train. Kinematic analysis is one of the key technologies for pantograph design and includes joint trajectories, reaction forces, and the required moment of main shaft calculations. The kinematic analysis, however, is very complex and time-consuming process. In this study PC based pantograph kinematic analysis software using graphical user interface tool was developed for the easy evaluations of kinematic characteristics necessary in pantograph design process.

• Journal of Mechanical Science and Technology
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• v.17 no.2
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• pp.207-214
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• 2003

The fatigue behaviour of six different hollow section T-joints subjected to out-of-plane bending moment was investigated experimentally using scaled steel models. The joints had circular brace members and rectangular chord members. Hot spot stresses and the stress concentration factors. (SCFs) were determined experimentally. Fatigue testing was carried out under constant amplitude loading in air. The test results have been statistically evaluated, and show that the experimental SCF values for circular-to-rectangular (CHS-to-RHS) hollow section joints were found to be below those of circular-to-circular (CHS-to-CHS) hollow section joints. The fatigue strength, referred to experimental hot spot stress, was in reasonably good agreement with referred fatigue design codes for tubular joints.

• Steel and Composite Structures
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• v.3 no.5
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• pp.349-369
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• 2003

The paper concerns the modelling of rigid and semi-rigid steel-concrete composite joints under monotonic loading through use of the Abaqus program, a widespread finite element code. By comparing numerical and experimental results obtained on cruciform tests, it is shown that the proposed modelling allows a good fit of the global joint response in terms of moment-rotation law. Even the local response in terms of stresses and strains is adequately predicted. Hence, this numerical approach may represent a useful tool for attaining a better understanding of experimental results. It may also be used to perform parametric analyses and to calibrate simplified mechanical models for practical applications.