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.

In this study, the number of fire stations per radius centered at bridges on the national road route was calculated through GIS based on BMS and POI information. The fire risk could be represented as the number of fire stations nearby bridges. The radius was 5km but could be extended to longer distances. The number of fire stations in the northern part of Gyeonggi, Gangwon mountain area, and northern part of Gyeongsang area were smaller than those in other districts.

To evaluate the possibility of negative reaction at seismic isolation bearings subject to seismic load, seismic records of El-Centro and artificial earthquake wave were applied to a single-plate girder bridge with various analytical parameters of curvature radii and skew angles. It is found that seismic analysis using those parameters should be carried out to prevent negative reaction at support.

Curved girders show very complex behavior compare to straight girders because the torsional moments always act on the structure even if there are no additional loads except self-weight. For this reason, engineers need to consider torsional behavior when design or analyse structure. However, most of curved bridges are designed as a series of straight girders because design specification does not reflect the curved beam theory. In this paper, curved girders are analysed by FEA program and the results are compared with the results of straight girders. Selecting the radius of curvature as a parameter, suitable analysis method for design of horizontally curved girder was suggested.

In order to reduce the uncertainties and improve the air flow field, objective analysis using observational data is chosen as a method that enhances the reality of meteorology. To improve the meteorological components, the radius influence and nudging coefficient of the objective analysis should perform a adequate value on complex area for the objective analysis technique which related to data reliability and error suppression. Several numerical experiments have been undertaken in order to clarify the impacts of the radius influence and nudging coefficient of the objective analysis on meteorological environments. By analyzing practical urban ground conditions, we revealed that there were large differences in the meteorological differences in each case. In order to understand the quantitative impact of each run, the Statistical analysis by estimated by MM5 revealed the differences by the synoptic conditions. The strengthening of the synoptic wind condition tends to be well estimated when using quite a wide radius influence and a small nudging coefficient. On the other hand, the weakening of the synoptic wind is opposite.