• 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.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.05a
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• pp.125-130
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• 2001

A existing design method of PSC girder bridges, according to total service loads, stress required tendon force at a time. Because this design method increases beam depth, design of long span is difficult. However, As UC girder stressing at difficult loading stages reduces sectional depth of PSC girder, both design and operation of long span bridges is possible. so, this study analyzes the effect of design parameter (Girder Strength, Girder Spacing, Span Length, Joint Strength) on the beam depth of IPC girder continuous bridges, and shows sectional depth of UC girder for design of long span bridges. According to analysis, when a continuous bridges of same length span is at strength of joint over strength of girder of 600kg/$cm^{2}$, a change of beam depth is observed and when a continuous bridges of different span length is at strength of joint below strength of girder of 600kg/$cm^{2}$, a change of beam depth is observed. In two case, a change of beam depth is mostly observed over strength of girder of 350kg/$cm^{2}$ according to analysis of deflection data, a continuous bridges of IPC girder is nearly satisfied.

• Journal of the Korean Geotechnical Society
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• v.15 no.1
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• pp.63-78
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• 1999

For the design of compression anchor, three things should be considered. The first is a resistance force by skin friction, the second is a tension strength of tendon, and the third is a compressive strength of grout. Especially, compressive strength of grout is the most important design parameter of compression anchor. When compression anchor is pulled out from the ground, the compressive strength of grout increases by confining pressure of ground($\sigma_{tg$). Here, $\sigma_{tg$ is the confining pressure which is produced by earth pressure at rest and by lateral expansion of grout. We call this phenomenon of increase of confining pressure "poisson effect". In this paper, the design method of compression anchor called SSC anchor and the computer program for the design are developed through compression tests of anchor body grout.ody grout.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• Clinics in Shoulder and Elbow
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• v.20 no.1
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• pp.49-56
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• 2017

Since the olecranon fractures are caused by relatively low-energy injuries, such as a fall from standing height, they are usually found without comminution. Less commonly they can be developed by high-energy injuries and have severe concomitant comminution or injuries to surrounding structures of the elbow. Because the fracture by nature is intra-articular with the exception of some avulsion-type fracture, a majority of olecranon fractures are usually indicated for surgical treatment. Even if there is minimal displacement, surgical treatment is recommended because there is a possibility of further displacement by the traction force of triceps tendon. The most common type of olecranon fracture is displaced, simple non-comminuted fracture (that is, Mayo type IIA fractures). Although tension band wiring was the most widespread treatment method for these fractures previously, there is some trends toward fixation using locking plates. Primary goal of the surgery is to restore a congruent joint and extensor mechanisms by accurate reduction and stable fixation so that range of motion exercises can be performed. The literature has shown that good clinical outcomes are achieved irrespective of surgical fixation technique. However, since the soft tissue envelope around the elbow is poor and the implants are located at the subcutaneous layer, implant irritation is still the most common complication associated with surgical treatment.

• Structural Engineering and Mechanics
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• v.31 no.5
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• pp.605-619
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• 2009

A comparative experimental study of prestressed continuous steel-concrete composite beams was carried out. Two continuous composite beams were tested, one of which was plain continuous steel-concrete composite beam, while the other was a composite beam prestressed with external tendons. Cracking behavior and the load carrying capacity of the beams were investigated experimentally. Full plasticity was developed in the mid-span section each beam, the maximum moments attained at the internal support sections however were governed by local buckling which was related to the slenderness of composite section. It was found that in hogging moment regions, the ultimate resistance of an externally prestressed composite beam would be governed by either distortional lateral buckling or local buckling, or interactive mode of these two buckling patterns. The results show that exerting prestressing on a continuous composite beam with external tendons will increase the extent of internal force and moment redistribution in the beam. The influences of local and distortional buckling on the behaviors of the composite continuous beams are discussed. The Moment redistribution and the load carrying capacity of the prestressed continuous composite beams are evaluated, and it is found that at the ultimate state, the moment redistribution in the prestrssed continuous composite beams is greater than that in non-prestressed composite beams.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.178-181
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• 2011

본 연구에서는 광섬유센서를 내장한 스마트강연선을 이용하여 초고성능콘트리트로 제작된 하이브리드 사장교 세그먼트의 횡방향 도입 긴장력을 계측하고 세그먼트 내부의 프리스트레스를 계측하여 즉시손실에 해당하는 정착장치 활동에 의한 손실과 마찰손실을 도로교설계기준(2005)의 설계 마찰손실과 비교하였다. 제작된 2개의 UHPC 사장교 세그먼트는 횡방향 길이 16.7m, 종방향 길이 1.75m, 높이 1.5m이며 각 시험체의 1/4, 1/2, 3/4지점에 긴장력을 계측하기 위해 3개의 FBG센서를 배치하였다. 긴장력은 유압잭을 이용하여 5개의 강연선에 동시에 순차적으로 도입되었으며, 단부에서 최대 도입 긴장력은 세그먼트 1은 734kN, 세그먼트 2는 639kN이었다. 도로교설계기준에 제시된 마찰계수의 중간값(파상마찰계수=0.00405, 곡률마찰계수=0.20)을 사용하여 FBG센서 위치에서 계산된 긴장력은 계측치와 5% 이내의 차이를 보였으며, 정착장치 활동에 의한 순간손실은 긴장단에서 최대 12.8%로 계측되었다. 이로부터 이 연구에서 제시하는 긴장력계측방법의 적용성을 입증할 수 있었으며, 향후 이 방법은 프리스트레스트 콘크리트 교량의 설계기준 마찰계수 개정을 위한 연구에 좋은 도구로 활용될 수 있을 것으로 기대된다.

• Physical Therapy Rehabilitation Science
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• v.11 no.3
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• pp.279-284
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• 2022

Objective: This study was conducted to confirm the effect of physiotherapy on the balance and walking in dog with sciatic nerve injury and degenerative arthritis of stifle joints. Design: Single case study Methods: The dog walked abnormally for six months and was administrated in S animal hospital. The dog's right hindlimb was operated for cranial cruciate ligament repair and the dog had been taking a nonsteroidal anti-inflammatory analgesic before being refered. There was severe degenerated osteoarthritis in the right hindlimb. During stance and walking, the right hindlimb was often shown partial weight bearing. The dog's left hindlimb was shown plantigrade stance and walking. The radiograph was shown an intact calcaneal tendon in the left hindlimb. In the neurologic examination, sciatic nerve injury in the left hindlimb was confirmed. The dog was treated using muscle strengthening, proprioceptive exercise, underwater treadmill and Laser therapy two, or three times a week for 3 months. At the 10th and 17th treatment, it was evaluated through stance and gait analyzer system to measure dog's balance and walking. Results: 3 months following physiotherapy, the dog's balance was improved in center of pressure(COP). And peak vertical force(PVF), vertical impulse(VI) was increased in right hindlimb and double stance was decreased. Conclusions: Physiotherapy may have improved the prognosis in this dog with severe osteoarthritis and sciatic nerve injury. This study suggested that animal physiotherapy is a valuable way to improve balance and walking.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.18-28
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• 2023

This study introduces a smart wrist band system with pressure measurements using wrist skin curvature variation due to finger motion. It is easy to wear and take off without pre-adaptation or surgery to use. By analyzing the depth variation of wrist skin curvature during each finger motion, we elaborated the most suitable location of each Force Sensitive Resistor (FSR) to be attached in the wristband with anatomical consideration. A 3D depth camera was used to investigate distinctive wrist locations, responsible for the anatomically de-coupled thumb, index, and middle finger, where the variations of wrist skin curvature appear independently. Then sensors within the wristband were attached correspondingly to measure the pressure change of those points and eventually the finger motion. The smart wrist band was validated for its practicality through two demonstrative applications, i.e., one for a real-time control of prosthetic robot hands and the other for natural human-computer interfacing. And hopefully other futuristic human-related applications would be benefited from the proposed smart wrist band system.