• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Earthquakes and Structures
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• v.10 no.4
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• pp.939-963
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• 2016

According to the new directives about the rational and efficient use of energy, thermal bridges in buildings have to be avoided, and the thermal insulation (TI) layer should run without interruptions all around the building - even under its foundations. The paper deals with the seismic response of multi-storeyed reinforced concrete (RC) frame building structures founded on an extruded polystyrene (XPS) layer placed beneath the foundation slab. The purpose of the paper is to elucidate the problem of buildings founded on a TI layer from the seismic resistance point of view, to assess the seismic behaviour of such buildings, and to search for the critical parameters which can affect the structural and XPS layer response. Nonlinear dynamic and static analyses were performed, and the seismic response of fixed-base (FB) and thermally insulated (TI) variants of nonlinear RC building models were compared. Soil-structure interaction was also taken into account for different types of soil. The results showed that the use of a TI layer beneath the foundation slab of a superstructure generally induces a higher peak response compared to that of a corresponding system without TI beneath the foundation slab. In the case of stiff structures located on firm soil, amplification of the response might be substantial and could result in exceedance of the superstructure's moment-rotation plastic hinge capacities or allowable lateral roof and interstorey drift displacements. In the case of heavier, slenderer, and higher buildings subjected to stronger seismic excitations, the overall response is governed by the rocking mode of oscillation, and as a consequence the compressive strength of the XPS could be insufficient. On the other hand, in the case of low-rise and light-weight buildings, the friction capacity between the layers of the applied TI foundation set might be exceeded so that sliding could occur.

• Earthquakes and Structures
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• v.10 no.5
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• pp.1143-1179
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• 2016

Offshore wind turbines are considered as a fundamental part to develop substantial, alternative energy sources. In this highly flexible structures, monopiles are usually used as support foundations. Since the monopiles are large diameter (3.5 to 7 m) deep foundations, they result in extremely stiff short monopiles where the slenderness (length to diameter) may range between 5 and 10. Consequently, their elastic deformation patterns under lateral loading differ from those of small diameter monopiles usually employed for supporting structures in offshore oil and gas industry. For this reason, design recommendations (API and DNV) are not appropriate for designing foundations for offshore wind turbine structures as they have been established on the basis of full-scale load tests on long, slender and flexible piles. Furthermore, as these facilities are very sensitive to rotations and dynamic changes in the soil-pile system, the accurate prediction of monopile head displacement and rotation constitutes a design criterion of paramount importance. In this paper, the Fourier Series Aided Finite Element Method (FSAFEM) is employed for the determination of static impedance functions of monopiles for OWT subjected to horizontal force and/or to an overturning moment, where a non-homogeneous soil profile has been considered. On the basis of an extensive parametric study, and in order to address the problem of head stiffness of short monopiles, approximate analytical formulae are obtained for lateral stiffness $K_L$, rotational stiffness $K_R$ and cross coupling stiffness $K_{LR}$ for both rough and smooth interfaces. Theses expressions which depend only on the values of the monopile slenderness $L/D_p$ rather than the relative soil/monopile rigidity $E_p/E_s$ usually found in the offshore platforms designing codes (DNV code for example) have been incorporated in the expressions of the OWT natural frequency of four wind farm sites. Excellent agreement has been found between the computed and the measured natural frequencies.

• Earthquakes and Structures
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• v.14 no.5
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• pp.467-476
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• 2018

The seismic vulnerability of skewed bridges had been observed in many past earthquakes. Researchers have found that the in-plane rotation of the girders was one of the main reasons for the vulnerability of these types of bridges. To date, not many experimental works have been done on this topic, especially those including pounding between adjacent structures. In this study, shake table tests were performed on a bridge-abutment system consisting of a straight, $30^{\circ}$, and $45^{\circ}$ bridge with and without considering pounding. Skewed bridges with the same fundamental frequency and those having the same girder mass as the straight bridge were studied. Under the loadings considered, skewed bridges with the same frequency as the straight tend to have smaller responses than those with the same mass. The average maximum bending moment developed in the piers of the $30^{\circ}$ bridge with the same mass as that of the straight when pounding was not considered was 1.6 times larger than when the frequencies were the same. It was also found that the NZTA recommendations for the seat lengths of skewed bridges could severely underestimate the relative displacements of these types of bridges in the transverse direction, especially when pounding occurs. In the worst case, the average transverse displacement of the $45^{\circ}$ bridge was about 2.6 times the longitudinal displacement of the straight, which was greatly over the limit suggested by the NZTA of 1.25 times.

• Journal of Korean Society of Steel Construction
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• v.13 no.5
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• pp.535-545
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• 2001

A refined method of analysis which is called the Advanced Analysis has been introduced This method is to consider the intial member imperfection residual stress and second-order effects so as to estimate the overall behavior of steel frame accurately Based on the refined plastic hinge method that is more suitable and practical in design practice. the program RPH-2DF is coded using the log model which represents the moment-rotation relationship of connection. The validity of this program is examined by frame test data. Finally to investigate the difference between behaviors of rigid and semi-rigid frame. the 10-story frame analysis results designed by MIDAS-GEN v4.2.2 are compared with the results by RPH-2DF.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.6
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• pp.651-659
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• 2011

With the increase in the thermal power output of recently developed nuclear power plants, the applied forces and moments are increased in some piping systems, so that the leak-before-break (LBB) application criteria would not be satisfied in those pipes. In this paper, we present a method for obtaining the additive LBB margin in the pipes by considering the nonlinearity of the crack and material properties. Finite element analysis and the moment-rotation equation of beam theory were used to calculate the nonlinearity of the crack and material properties. Moreover crack stability analysis was performed using the method proposed in this study. The LBB margin was increased effectively through consideration of the nonlinearity of the crack and material properties in the pipe.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.6
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• pp.452-459
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• 2015

It is important to use bench test results in the design process of anti-rolling tanks. Traditional bench tester is usually designed to perform only roll motions about a fixed axis and relatively small so that the viscous effects may not be neglected. Novel bench tester which could adjust the motion center to realize the coupled motion of sway and roll has been devised and manufactured therefore, large scaled bench tester could be utilized for designing the passive anti-rolling tanks. The time history of the reference signal from the rotation sensor of the bench tester have been recorded and processed to determine the phase angle to derive the Response Amplitude Operator(RAO) of the stabilized ship. The breadth of ART tank model should be large up to 2 m to diminish viscous scale effect and the vertical position of the tank can be varied with the ship's center of motion. The periods and the amplitude of roll motion can be varied from 1.5 sec to 5 sec and up to ±20°, respectively. The components of the tester was expressed in three dimensional digital mockup (DMU) and assembled together in the CAD space. The final configuration of the bench tester has been determined by confirming the smooth operation of the moving parts without interference through the animation in CAD space. New analytic logic are introduced for the determination of hydrodynamic moment and phase difference due to fluid motion in ART and verified through the test. The developed bench tester is believed to be effective and accurate for the verification of stabilization effect of ART taking into the consideration of the sway effect in the design stage.

• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.645-652
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• 2011

The purpose of this study was to analyze, in real time, the glide motion and release motion of domestic athletes and gold and bronze medalists employing the glide technique for the men's shot put at the Daegu World Athletic Championship in 2011. In the glide motion, the Korean athletes had a relatively high body center and shot put heights and lager stretching angles for their hips and knees. In the delivery phase, which shifts to the release phase, the Korean athletes showed slower vertical body center and shot put speeds, and they changed the phase, to the release phase by using a small body angle. In the release phase, the Korean athletes showed differences in their projection speeds and vertical body center speeds. The world-famous players showed high angle speeds, which refer to the composition of the rotation force at the moment of release (body, hip, and shoulder line). In the release phase, the Korean athletes did not have fully stretched hip and knee angles, which might have negatively influenced the vertical speed. Because the Korean athletes showed relatively low projection heights and projection angles. it was found that they need to enhance the muscular power of their, throwing arms and lower limbs.

• Journal of the Korean Geotechnical Society
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• v.20 no.8
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• pp.135-145
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• 2004

In this study, the behavior of unpropped diaphragm walls on decomposed granite soil was investigated through centrifugal and numerical modelling. Centrifuge model tests were performed by changing the interval distance of surcharge. Excavation was simulated during the centrifuge tests by operating a solenoid valve that allowed the zinc chloride solution to drain from the excavation. In these tests, ground deformation, wall displacement and bending moment induced by excavation were measured. FLAC program which can be able to apply far most geotechnical problems was used in the numerical analysis. In numerical simulation, Mohr-Coulomb model fur the ground model, an elastic model for diaphragm wall were used for two dimensional plane strain condition. From the results of model tests, failure surface was straight line type, the ground of retained side inside failure line had downward displacement to the direction of the wall, and finally the failure was made by the rotation of the wall. The angle of failure line was about 67 ∼ 74$^{\circ}$, greater than calculated value. The locations of the maximum ground settlement obtained from model tests and analysis results are in good agreements. The displacement of wall and the change of the embedment depth is likely to have linear relationship.

• Steel and Composite Structures
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• v.26 no.3
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• pp.329-345
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• 2018

This paper systematically investigated the mechanical performance of the weak-axis cover-plate connection, including a beam end monotonic loading test and a column top cyclic loading test, and a series of parametric studies for exterior and interior joints under cyclic loading using a nonlinear finite element analysis program ABAQUS, focusing on the influences of the shape of top cover-plate, the length and thickness of the cover-plate, the thickness of the skin plate, and the steel material grade. Results showed that the strains at both edges of the beam flange were greater than the middle's, thus it is necessary to take some technical methods to ensure the construction quality of the beam flange groove weld. The plastic rotation of the exterior joint can satisfy the requirement of FEMA-267 (1995) of 0.03 rad, while only one side connection of interior joint satisfied ANSI/AISC 341-10 under the column top cyclic loading. Changing the shape or the thickness or the length of the cover-plate did not significantly affect the mechanical behaviors of frame joints no matter in exterior joints or interior joints. The length and thickness of the cover-plate recommended by FEMA 267 (1995) is also suitable to the weak-axis cover-plate joint. The minimum skin plate thickness and a design procedure for the weak-axis cover-plate connections were proposed finally.