본 연구에서는 선형이론을 바탕으로 한 이산계열 대공간구조물의 크기최적화에 따른 후좌굴 거동의 변화에 대하여 조사하고 그 결과를 기술하였다. 먼저 공간구조물의 최적의 부재크기 패턴을 조사하기 위하여 수학적 프로그래밍 기법을 도입하였다. 이때 최소화 해야하는 공간구조물의 전체 부재의 중량을 목적함수로 이용하고 절점에서 발생하는 변위 값과 각 부재에서 발생하는 응력 값을 허용치 이하로 제한하는 제약조건으로 사용하였다. 크기최적화를 통하여 도출된 최적 부재패턴을 가지는 공간구조물의 후좌굴 거동을 통합 비선형해석기법으로 해석하고 그 결과를 분석하였다. 수치해석을 통하여 크기최적화에 따른 공간구조물의 후좌굴 거동의 변화는 매우 큰 것으로 나타났으며 이러한 후좌굴 거동의 변화에 대한 예측과 분석결과가 공간 구조물의 설계에 고려되어야 할 것으로 판단된다. 또한 본 연구에서 제시한 수치해석 결과는 이산계열 대공간구조물의 설계에 기본 데이터로 제시하였다.

As an interpretation of existing jamming effects, the main variables affecting the increase in stiffness due to jamming are known as system density, jamming density, pressure, and particulate temperature. The main variable, jamming density, is closely related to the distribution of particle size and contact properties such as particle shape and friction. However, the complexity of these variables makes it difficult to fully understand the mechanism of the jamming effect. In this paper, we focus on the jamming effects of particles that have more elastic properties than particles such as sand and coffee powder, which are commonly used as constituent particles of existing jamming, in order to reduce complicated factors such as temperature and concentrate on jamming effects based on elastic characteristics of particles. It was experimentally explored the possibility of increasing stiffness by mixing particles of different sizes rather than simply increasing the bending stiffness by controlling the particle size. Through simulations and experiments, we found a case where the stiffness of each particle size distribution is larger than the stiffness of each particle size.

This paper proposes a new string controller for puppet which is optimized in terms of the number of motors and its size. To optimize the number of motors needed for generating the essential motions of puppet, the motion of bending a leg is implemented by one string and the walking motion by two legs is implemented by one motor. To minimize the space needed for the controller when generating the essential motions of puppet, cylindrical and articulated joints are used in the controller. The proposed controller is actually implemented to perform various puppet shows and it has been proved that the size of the controller is small enough for two puppets to stand close to shake hands and it is fast enough to simulate fast dance motions.