• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.1
• /
• pp.25-32
• /
• 2012

In this study, we present a gripping mechanism that is inspired by caterpillar's proleg. A caterpillar's proleg has planta that gives compliance to the proleg by greatly deforming its shape. In the bio-inspired gripper, the planta is implemented by flexure joints. The flexures buckle when end force and end moment is applied on the joint in opposite direction. Using this characteristic, the gripping structure is designed so that the flexure buckling can occur. Flexure buckling increases the region where gripping force is constant and this region leads to increasing in gripping range. At the same time, flexure buckling decouples all spines and therefore all spines can move differentially and independently. With this simple but effective mechanism, the bioinspire gripper can achieve adaptive gripping on rough and rugged surfaces. A prototype is built to demonstrate adaptive gripping on rough and rugged surfaces such as cement block, brick.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.907-910
• /
• 2005

Although several artificial disc designs have been developed for the treatment of discogenic low back pain, biomechanical change with its implantation was rarely studied. To evaluate the effect of artificial disc implantation on the biomechanics of functional spinal unit, nonlinear three-dimensional finite element model of L4-L5 was developed with 1-mm CT scan data. Two models implanted with artificial discs, SB $Charit\acute{e}$ or Prodisc, via anterior approach were also developed. The implanted model predictions were compared with that of intact model. Angular motion of vertebral body, force on spinal ligaments and facet joint, and the stress distribution of vertebral endplate for flexion-extension, lateral bending, and axial rotation with a compressive preload of 400 N were compared. The implanted model showed increased flexion-extension range of motion and increased force in the vertically oriented ligaments, such as ligamentum flavum, supraspinous ligament and interspinous ligament. The increase of facet contact force on extension were greater in implanted models. The incresed stress distribution on vertebral endplate for implanted cases indicated that additinal bone growth around vertebral body and this is matched well with clinical observation. With axial rotation moment, relatively less axial rotation were observed in SB $Charit\acute{e}$ model than in ProDisc model.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1780-1783
• /
• 2005

In this paper ZMP was considered in order to get a walking stability, so the gait in the stable domain was realized through putting the stability margin in the sole domain of a foot. It is assumed that the robot's legs have 12 joints to operate a open-loop drive and there was no external disturbance under walking phases, additionally, the robot is walking on the flat plane. It was observed that the robot's walking trajectory, locus of COM and ZMP after imposing the motion to each joint. For realizing the simulation considering ZMP and movement of mass center, it was checked if it is stable for the constraint robot model to walk in stability and the feasibility was estimated about its dynamic gait. Eventually it was shown that a constraint gait algorithm is able to realize. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• 한국신재생에너지학회:학술대회논문집
• /
• 2007.06a
• /
• pp.658-661
• /
• 2007

KIER have been developing high-temperature solar technology, especially the solar thermal power generation system, since the early of 1990s. In 1994, the first research on high temperature solar technology started with PTC technology. At the moment the most advanced 10kW dish system is under demonstration for 10kW solar thermal power generation. Test results showed about 19.2% solar to electricity average efficiency. Another research activities of KIER is hybrid power generation. For hybridization, solar and LFG(landfill gas) are used. Another hybrid solar system is with solar chemical reaction. In this system, power unit is gas turbine, and the heat content of fuel(like natual gas) is upgraded by solar energy through chemical reaction. The latest project on solar thermal power generation is for 1 MW power tower system. This is the Korea-China Joint project.

• Geomechanics and Engineering
• /
• v.11 no.4
• /
• pp.457-469
• /
• 2016

Steep rock slope with water-filled tension crack will happen to overturn around the toe of the slope under seismic loading. This failure type is completely different from the common toppling failure occurring in anti-dipping layered rock mass slopes with steeply dipping discontinuities. This paper presents an analytical approach to determine the seismic factor of safety against overturning for an intact rock mass slope with water-filled tension crack considering horizontal and vertical seismic coefficients. This solution is a generalized explicit expression and is derived using the moment equilibrium approach. A numerical program based on discontinuous deformation analysis (DDA) is adopted to validate the analytical results. The parametric study is carried out to adequately investigate the effect of horizontal and vertical seismic coefficients on the overall stability against overturning for a saturated rock slope under two water pressure modes. The analytical results show that vertically upward seismic inertia force or/and second water pressure distribution mode will remarkably decrease the slope stability against overturning. Finally, several representative design charts of slopes also are presented for the practical application.

• Steel and Composite Structures
• /
• v.10 no.5
• /
• pp.385-414
• /
• 2010

In current European Standard EN 1993, the moment-rotation characteristics of beam-to-column joints made from steel with a yield stress > 460MPa are obtained from elastic design procedures. The strength of the joint basic components, such as the column web subject to local transverse compression, is thus limited to the yield resistance rather than the plastic resistance. With the recent developments of higher strength steel grades, the need for these restrictions should be revisited. However, as the strength of the steel is increased, the buckling characteristics become more significant and thus instability phenomena may govern the design. This paper summarizes a comprehensive set of finite element parametric studies pertaining to the strength behaviour of high-strength steel unstiffened I-columns in transverse compression. The paper outlines the implementation and validation of a three-dimensional finite element model and presents the relevant numerical test results. The finite element predictions are evaluated against the strength values anticipated by the EN 1993 for conventional steel columns and recommendations are made for revising the specifications.

• Steel and Composite Structures
• /
• v.24 no.3
• /
• pp.277-285
• /
• 2017

Single-storey industrial buildings are one of the most often type of structures built among various skeletal framed steel constructions. These metallic buildings offer an exceptional opportunity to minimise the material employed, contributing to a more sustainable construction. In particular, the mansard portal frame is a typology made up of broken beams that involves different lengths and discontinuous slopes. This study aims the weight reduction of the standard mansard portal frame with design purposes by means of varying four parameters: the kink position, the eaves-apex slope, the span and the columns height. In this work, we suggest some guidelines that can improve the economical competitive capabilities of their structural design. In all the cases analysed, the joints of the portal frame are placed over the theoretical non-funicular shape to uniform loads. This allows reducing the bending moment and the shear force, but increasing the axial force. In addition, the performance of mansard and typical pitched portal frames submitted to the same boundary conditions is compared in terms of efficiency in the use of steel. In the large majority of the cases, mansard typologies are lighter than the common pitched frames and, hence, more economical.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.5
• /
• pp.847-853
• /
• 2010

This paper describes switching surge analysis for reclosing decision in 345kV combined transmission line with XLPE power cable. Reclosing operation should be decided based on the detailed technical analysis in combined transmission line because this line includes power cable section which is week on insulation. Insulation of power cable can be breakdown at the week point in case of reclosing moment. Therefore the detailed analysis has to be carried out by considering several conditions such as length ratio of power cable section, arrestor, inserting resistance, charging rate, grounding resistance, etc.. On the other hand sheath voltage on IJ(Insulated Joint) is analyzed to check dangerous condition on cable cover. Analysis is performed by EMTP/ATP. Analysis results show that reclosing can be operated as the single line-to-ground fault occurs on overhead line in 345kV combined transmission line, if the inserting resistance is considered before the operation of main circuit breaker.

• Journal of the Korea Concrete Institute
• /
• v.15 no.4
• /
• pp.625-633
• /
• 2003

For the construction of open-topped steel box girder bridges, prefabricated concrete slab could offer several advantages over cast-in-situ deck including good quality control, fast construction, and elimination of the formwork for concrete slab casting. However, precast decks without reinforcements at transverse joints between precast slabs should be designed to prevent the initiation of cracking at the joints, because the performance of the joint is especially crucial for the integrity of a structural system. Several prestressing methods are available to introduce proper compression at the joints, such as internal tendons, external tendons and support lowering after shear connection. In this paper, experimental results from a continuous composite bridge model with precast decks are presented. Internal tendons and external tendons were used to prevent cracking at the joints. Judging from the tests, precast decks in negative moment regions have the whole contribution to the flexural stiffness of composite section under service loads if appropriate prestressing is introduced. The validity of the calculation of a cracking load fur serviceability was presented by comparing an observed cracking load and the calculated value. Flexural behavior of the continuous composite beam with external prestressing before and after cracking was discussed by using the deflection and strain data.

• Structural Engineering and Mechanics
• /
• v.60 no.1
• /
• pp.51-69
• /
• 2016

A large number of welded steel moment-resisting framed (SMRF) structures failed due to brittle fracture induced by ductile fracture at beam-to-column connections during 1994 Northridge earthquake and 1995 Kobe (Hyogoken-Nanbu) earthquake. Extensive research efforts have been devoted to clarifying the mechanism of the observed failures and corresponding countermeasures to ensure more ductile design of welded SMRF structures, while limited research on the failure analysis of the ductile cracking was conducted due to lack of computational capacity and proper theoretical models. As the first step to solve this complicated problem, this paper aims to establish a straightforward procedure to simulate ductile cracking of welded joints under monotonic tension. There are two difficulties in achieving the aim of this study, including measurement of true stress-true strain data and ductile fracture parameters of different subzones in a welded joint, such as weld deposit, heat affected zone and the boundary between the two. Butt joints are employed in this study for their simple configuration. Both experimental and numerical studies on two types of butt joints are conducted. The validity of the proposed procedure is proved by comparison between the experimental and numerical results.