• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• Ocean Systems Engineering
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• v.5 no.2
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• pp.77-89
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• 2015

As the exploitation of oil and gas resources advances into deeper waters and harsher environments, the design and analysis of the flexible risers has become the research focus in the offshore engineering filed. Due to the complexity of the components and the sliding between the adjacent layers, the bending response of the flexible risers is highly non-linear. This paper presents the finite element analysis of the flexible risers under bending loads. The detailed finite element model of the flexible riser is established in ABAQUS software. This finite element model incorporates all the fine details of the riser to accurately predict its nonlinear structural behavior. Based on the finite element model, the bending moment-curvature relationships of a flexible riser under various axisymmetric loads have been investigated. The results have been compared with the analytical ones obtained from the literature and good agreements have been found. Moreover, the stress of the tendon armors has been studied. The non-linear relationship between the armor tendons' stress and the bending loads has been obtained.

• Journal of Pharmacopuncture
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• v.11 no.4
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• pp.87-94
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• 2008

Purpose In order to estimate clinical effects of Oriental Medicine Treatment with acupotomy therapy of Achilles Tendinitis Methods From 4th August, 2008 to 14th August, 2008, 1 female patient diagnosed as Chronic Achilles Tendinitis (clinical diagnosed) was treated with general oriental medicine therapy(acupuncture, moxibustion, cupping, physical therapy, herbal medication) and acupotomy. Results The patient's chief complaints- Lt. heel pain and stiffness, dorsi-flexion limitation, nodules in the achilles tendon- were notably improved. Conclusions This study demonstrates that oriental medical treatment with acuputomy therapy has significant effect in improving symptoms of achilles tendinitis. as though we had not wide experience in this treatment, more research is needed.

• Journal of the Korea Concrete Institute
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• v.17 no.4 s.88
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• pp.645-654
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• 2005

This paper presents a nonlinear finite element procedure for the analysis of reinforced and prestressed concrete shells using the four-node quadrilateral flat shell element with drilling rotational stiffness. A layered approach is used to discretize, through the thickness, the behavior of concrete, reinforcing bars and tendons. Using the smeared-crack method, cracked concrete is treated as an orthotropic nonlinear material. The steel reinforcement and tendon are assumed to be in a uni-axial stress state and to be smeared in a layer. The constitutive models, which cover the loading, unloading, and reloading paths, and the developed finite element procedure predicts with reasonable accuracy the behavior of reinforced and prestressed concrete shells subjected to different types of loading. The proposed numerical method fur nonlinear analysis of reinforced and prestressed concrete shells is verified by comparison with reliable experimental results.

• Macromolecular Research
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• v.15 no.3
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• pp.205-210
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• 2007

Collagen is the major structural protein of connective tissues. It can be used as a prosthetic biomaterial applicable to artificial skin, tendon, ligaments, and collagen implants. The objective of this study is to investigate the possibility of realizing wound dressing medical products by the synthesis of composite materials with collagen and a biodegradable polymer, PLLA, via a surface modification process. Type I collagen was obtained from pig skin by a separation process. The structural characteristics of the extracted collagen were confirmed by SDS-polyacrylamide (PAcr) gel electrophoresis (PAGE) and FTIR. Also, PLLA-g-PAcr was synthesized by the radical polymerization of acrylamide initiated by AIBN in the presence of PLLA. The surface of PLLA was modified by the presence of the acrylamide residues. The structural characteristics of the copolymer were analyzed by FTIR, $^1H-NMR$ and contact angle measurements. The water uptake and WVTR of the collagen/PLLA-g-PAcr composite tended to increase with increasing collagen concentration and with decreasing EDC concentration.

• Smart Structures and Systems
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• v.5 no.1
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• pp.81-94
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• 2009

A vibration-impedance-based monitoring method is proposed to predict the loss of prestress forces in prestressed concrete (PSC) girder bridges. Firstly, a global damage alarming algorithm using the change in frequency responses is formulated to detect the occurrence of damage in PSC girders. Secondly, a local damage detection algorithm using the change in electro-mechanical impedance features is selected to identify the prestress-loss in tendon and anchoring members. Thirdly, a prestress-loss prediction algorithm using the change in natural frequencies is selected to estimate the extent of prestress-loss in PSC girders. Finally, the feasibility of the proposed method is experimentally evaluated on a scaled PSC girder model for which acceleration responses and electro-mechanical impedances were measured for several damage scenarios of prestress-loss.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.172-177
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• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.

• Earthquakes and Structures
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• v.23 no.3
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• pp.221-229
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• 2022

The external post-tension technique is one of the best strengthening methods for reinforcement and improvement of the various steel structures and substructure components such as beams. In the present work, the load carrying capacity of the post-tensioned tapered steel beams with external shape memory alloy (SMA) tendons are studied. 3D nonlinear finite element method with ABAQUS software is used to determine the effects of the increase in the flexural strength, and the improvement of the load carrying capacity. The effect of the different parameters, such as geometrical characteristics and the post-tension force applied to the tendons are also studied in this research. The results reveal that the external post-tension with SMA tendons in comparison with the steel tendons causes a significant improvement of the loading capacity. According to this, using SMA tendon for the reinforcement of the tapered beams causes a decrease in weight of these structures and as a consequence causes economic benefits for their application. This method can be used extensively for steel beams due to low executive costs and simplicity of the operation for post-tension.

• International Journal of Concrete Structures and Materials
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• v.9 no.3
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• pp.369-379
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• 2015

Friction in a post-tensioning system has a significant effect on the distribution of the prestressing force of tendons in prestressed concrete structures. However, attempts to derive friction coefficients using conventional electrical resistance strain gauges do not usually lead to reliable results, mainly due to the damage of sensors and lead wires during the insertion of strands into the sheath and during tensioning. In order to overcome these drawbacks of the existing measurement system, the Smart Strand was developed in this study to accurately measure the strain and prestressing force along the strand. In the Smart Strand, the core wire of a 7-wire strand is replaced with carbon fiber reinforced polymer in which the fiber Bragg grating sensors are embedded. As one of the applications of the Smart Strand, friction coefficients were evaluated using a full-scale test of a 20 m long beam. The test variables were the curvature, diameter, and filling ratio of the sheath. The analysis results showed the average wobble and curvature friction coefficients of 0.0038/m and 0.21/radian, respectively, which correspond to the middle of the range specified in ACI 318-08 in the U.S. and Structural Concrete Design Code in Korea. Also, the accuracy of the coefficients was improved by reducing the effective range specified in these codes by 27-34 %. This study shows the wide range of applicability of the developed Smart Strand system.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.41 no.2
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• pp.93-100
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• 2021

The objective of this research is to evaluate of fire damage for steel-concrete composite bridge superstructure and PSC bridge superstructure under highway bridge exposed to fire loading. To enhance the accuracy and efficiency of the numerical analysis, the proposed heat flow fire analysis method is implemented in ANSYS. The proposed heat flow analysis method is applied to fire damage analysis and performance evaluation for Buchen and Yangsan highway bridge. The result of analysis, temperature of concrete slab and lower flange of steel-concrete composite bridge superstructure are exceed the critical temperature. Also, temperature of slab, lower and upper flange, web of PSC bridge superstructure are exceed the critical temperature. However, the major component, tendon, did not exceed the critical temperature.