• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Geomechanics and Engineering
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• v.29 no.3
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• pp.359-368
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• 2022

Undercutting using an actuated disc cutter (ADC) involves more complex cutting mechanism than traditional rock cutting does, requiring the application of various new cutting parameters, such as eccentricity, cutter inclination angle, and axis rotational speed. This study presents cutting-edge laboratory-scale testing equipment that allows performing ADC tests. ADC tests were carried out on a concrete block with a specified strength of 20 MPa, using a variety of cutting settings that included penetration depth (p), eccentricity (e), and linear velocity (v). ADC, unlike pick and disc cutting, has a non-linear cutting path with a dynamic cutting direction, requiring the development of a new method for predicting cutting force and specific energy. The influence of cutting parameters to the cutter forces were discussed. The ratio of eccentricity to the penetration depth (e/p) was proposed to evaluate the optimal cutting condition. Specific energy varies with e/p ratio, and exhibits optimum values in particular cases. In general, actuated undercutting may potentially give a more efficient cutting than conventional pick and disc cutting by demonstrating reasonably lower specific energy in a comparable cutting environment.

• International Journal of Concrete Structures and Materials
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• v.18 no.3E
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• pp.199-205
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• 2006

The composite frame system with reinforced concrete column and steel beam can be improved in its structural efficiency by complementing the shortcomings of the two systems. The system, however, has many inherent problems in practical design and construction process due to the dissimilarities of the materials. Considering these circumstance, this research aims for the development of a composite structural system which connects the steel beams to the R/C columns with higher structural safety and economy. Basically, the proposed connection system is composed of four split tees, structural angles reinforced by a stiffener, high strength steel rods, connecting plates and shear plates. Structural tests have been carried out to investigate the moment transfer mechanism 1Tom the beam flange to steel rods or connecting plates through the structural angle reinforced by a stiffener. The four prototype specimens have been tested until the flange of the beam reached a plastic state. The test results indicated that no distinct material dissimilarities between concrete and steel have been detected for the proposed hybrid beam-column connection system and that the stress transfer through the structural angle between the beam flange and steel rods or connecting plates was very encouraging.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09b
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• pp.994-995
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• 2006

The microstructure of the extruded Al-20Si bars showed a homogeneous distribution of eutectic Si and primary Si particles embedded in the Al matrix. The grain size of ${\alpha}-Al$ varied from 150 to 600 nm and the size of the eutectic Si and primary Si in the extruded bars was about 100 - 200 nm. The room temperature tensile strength of the alloy with a powder size $<26{\mu}m$ was 322 MPa, while for the coarser powder ($45-106{\mu}m$) it was 230 MPa. With decreasing powder size from $45-106{\mu}m$ to $<26{\mu}m$, the specific wear of all the alloys decreased significantly at all sliding speeds due to the higher strength achieved by ultrafine-grained constituent phases. The fracture mechanism of failure in tension testing and wear testing was also studied.

• Resources Recycling
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• v.21 no.3
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• pp.28-38
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• 2012

The purpose of this paper is to develop the alkali-activated concrete which uses 100% fly ash as a binder without any cement. The compressive strength of the mortar was examined depending on the chemical change in alkali-activator through SEM and SEM/EDS observations and the XRD analysis. It was found from the test that the higher molar concentration induced the greater effect on the initial strength, and that $Si^{4+}$ and $Al^{3+}$ were eluted relative to the compressive strength of mortar. In addition, it was confirmed that Al and Si were determined to be most influential ingredients on the microstructural development of the mortar, and that the different ingredient of the activator was almost no change in solidity from the XRD analysis.

• Corrosion Science and Technology
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• v.16 no.4
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• pp.209-225
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• 2017

Development of high strength steel requires proper understanding of hydrogen behavior since the higher the steel strength the greater the susceptibility of hydrogen assisted cracking. This paper provides a brief but broad overview on hydrogen entry and transport behavior of high-strength ferritic steels. First of all, hydrogen absorption, diffusion and trapping mechanism of the steels are briefly introduced. Secondly, several experimental methods for analyzing the physical/chemical nature of hydrogen uptake and transport in the steels are reviewed. Among the methods, electrochemical permeation technique utilized widely for evaluating the hydrogen diffusion and trapping behavior in metals and alloys is mainly discussed. Moreover, a modified permeation technique accommodating the externally applied load and its application to a variety of steels are intensively explored. Indeed, successful utilization of the modified permeation technique equipped with a constant load testing device leads to significant academic progress on the hydrogen assisted cracking (HAC) phenomenon of the steels. In order to show how the external and/or residual stress affects mechanical instability of steel due to hydrogen ingress, the relationship among the microstructure, hydrogen permeation, and HAC susceptibility is briefly introduced.

• Geomechanics and Engineering
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• v.23 no.3
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• pp.289-300
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• 2020

With the rapid development of the distributed strain sensing (DSS) technology, the strain becomes an alternative monitoring parameter to analyze slope stability conditions. Previous studies reveal that the horizontal strain measurements can be used to evaluate the deformation pattern and failure mechanism of soil slopes, but they fail to consider various influential factors. Regarding the horizontal strain as a key parameter, this study aims to investigate the stability condition of a locally loaded slope by adopting the variable-controlling method and conducting a strength reduction finite element analysis. The strain distributions and factors of safety in different conditions, such as slope ratio, soil strength parameters and loading locations, are investigated. The results demonstrate that the soil strain distribution is closely related to the slope stability condition. As the slope ratio increases, more tensile strains accumulate in the slope mass under surcharge loading. The cohesion and the friction angle of soil have exponential relationships with the strain parameters. They also display close relationships with the factors of safety. With an increasing distance from the slope edge to the loading position, the transition from slope instability to ultimate bearing capacity failure can be illustrated from the strain perspective.

• Composites Research
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• v.28 no.3
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• pp.94-98
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• 2015

This paper reports the effects of nickel film interleaves on the interlaminar shear strength(ILSS) of carbon fiber reinforced epoxy composites(CFRPs). A nickel thin film was deposited onto the prepreg by radio frequency(RF) sputtering at room temperature. The ILSS of the nickel film interleaved hybrid composites was increased compared to that of the composites without interleaves. To understand the mechanism of enhancement of the ILSS, the fracture surface of the tested specimens was examined by scanning electron microscopy(SEM). The metal interleaves were acted as a reinforcement for the matrix rich interface and the shear property of their composites improved by enhancing the resistance to matrix cracking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.3
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• pp.405-413
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• 1997

In the present paper, it is attempted to reconfirm the "Intelligent" material properties using both the sintered TiNi/Al(1100) matrix composite made by powder metallurgy method and the squeeze-casted TiNi/Al6061 specimens. A metal matrix composite is, its fault has been considered to deteriorate a strength of composite by heating residual stress of the matrix. Therefore, it is necessary to remove a tensile residual stress, to produce the strength of a composite better. On the contrary, if compressive residual stress happens in matrix of composite in place of tensile residual stress, it will make the strength of composite better. So that, this paper introduce the development of a high strength of composite, by using compressive residual stress well, on the study. By using these specimens, shape memory strengthening effects in tensile strength and fatigue crack propagation above inverse transformation temperature of TiNi fiber were investigated. We occurs the prestrain and volume fraction for to discuss the effects of a composite strength. Moreover, by SEM observation, the effect of the residual stress at the interface between Al matrix and TiNi fiber and some brittle precipitation layers such as inter metallic compounds on fracture mechanisms was discussed metallurgically.urgically.

• Journal of the Korean Recycled Construction Resources Institute
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• v.5 no.1
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• pp.1-7
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• 2017

Concrete behavior in early-age is changing due to hydration reaction with time, and a resistance to chloride attack and strength development are different characterized. In the present work, changing strength and resistance to chloride attack are evaluated with ages from 28 days to 6 months. For the purpose, strength, diffusion coefficient, and passed charge are evaluated for normal concrete with 3 different mix proportions considering 28-day and 6-month curing conditions. With increasing concrete age, the changing ratio of strength falls on the level of 135.3~138.3%, while diffusion coefficient and passed charge shows 41.8%~51.1% and 53.6%~70.0%, respectively. The results of chloride diffusion coefficient and passed charge show relatively similar changing ratios since they are much dependent on the chloride migration velocity in electrical field. The changing ratios in chloride behaviors are evaluated to be much larger than those in compressive strength since the ion transport mechanism is proportional to not porosity but square of porosity.