• Steel and Composite Structures
• /
• v.1 no.3
• /
• pp.295-312
• /
• 2001

The purpose of this paper is to propose a new type of steel reinforced concrete (SRC) beam-column joints and to examine the structural performance of the proposed joints, which simplify the construction procedure of steel fabrication, welding works, concrete casting and joint strengthening. In the proposed beam-column joints, the steel element of columns forms continuously built-in crossing of H-sections (${\Box}$), with adjacent flanges of column being connected by horizontal stiffeners in a joint at the level of the beam flanges. In addition, simplified lateral reinforcement (${\Box}$) is adopted in a joint to confine the longitudinal reinforcing bars in columns. Experimental and analytical studies have been carried out to estimate the structural performance of the proposed joints. Twelve cruciform specimens and seven SRC beam-column subassemblage specimens were prepared and tested. The following can be concluded from this study: (1) SRC subassemblages with the proposed beam-column joints show adequate seismic performances which are superior to the demand of the current code; (2) The yield and ultimate strength capacities of the beam-to-column connections can be estimated by analysis based on the yield line theory; (3) The skeleton curves and the ultimate shear capacities of the beam-column joint panel are predicted with a fair degree of accuracy by considering a simple stress transfer mechanism.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.51 no.2
• /
• pp.102-108
• /
• 2002

This paper describes the overvoltage analysis and reduction methods of insulation joint boxes in underground transmission power cables when direct lightning surge strikes to overhead transmission line. An actual 154kV combined transmission line with underground Power cables was modelled in ATPDraw for simulation. Simulations were performed to analyze the overvoltage between insulation joint boxes, sheath-to-ground voltage according to the distance between cable conductors, cable lengths, burying types, CCPU connection types. The most effective method to reduce the induced overvoltage of Insulation joint boxes was proposed. It is evaluated that the proposed reduction method riven from the detailed simulations can be effectively applied to the actual underground power cable systems.

• Proceedings of the KIEE Conference
• /
• 2000.07c
• /
• pp.2020-2022
• /
• 2000

The cross-linked polyethylene(herein after XLPE) insulated power cable emit the methane($CH_4$)gas in the course of chemical cross-linking process. The general stranded conductor easily discharge this methane gas through the gap of each stranded wires. But the special stranded conductor that filled with semi-conducting rubber compound to prevent water penetration which is applied to water proof type of cable(22.9kV CN/CV-W), disturb the methane gas emission. The pre-mold type cable joint shall be expanded gradually by emit of gas left in XLPE insulation. For example, sometimes the corona problem outbreak on a new power distribution line, resulted from the gap between the sleeve and semi-conductive layer of cable joint. If above mentioned problem especially happened on the way of operating. We have to shut down the line and try to discharge the methane gas in cable joint. In this point, we would like to explain the mechanism of methane gas & cable joint and our test result briefly. At last, we are pleased to introduce the solution for preventing reoccurrence of this problem.

• Journal of Korean Society of Steel Construction
• /
• v.14 no.5 s.60
• /
• pp.657-664
• /
• 2002

This paper described the ultimate strength and deformation limit of the new uniplanar T-joints in cold-formed square hollow sections. In the configuration of the new T-joint, only a branch member is orientated to a chord member at 45 degrees in the plane of the truss. This study focused on the branch-rotated T-joints that were governed by chord flange failure in previous studies. Test results of the T-joint in cold-formed square hollow sections revealed a deformation limit of 3%B for $16.7{\leq}2{\gamma}(=B/T){\leq}33.3$ and $0.27{\leq}{\beta}(=b1/B){\leq}0.6$. The existing strength formulae for traditional T-joint were determined and a new yield-line model for the branch-rotated T-joint proposed. Finally, the strength formula on the yield-line analysis was compared with test results and the application range of the proposed formula recommended.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.3
• /
• pp.342-348
• /
• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Proceedings of the KIEE Conference
• /
• 1991.07a
• /
• pp.763-766
• /
• 1991

The moving of each axis in the robot manipulator can be represented with the motion of cartesian space. This paper shows the robot manipulator of the straight line trajectory planning algorithms in the cartesian space. The relation formulas between cartesian space and joint space are induced to accomplish a desired trajectory in the cartesian space and the velocity vector of sampling time in the cartesian space is transformed into the velocity vector of joint by the interpolation method. The error of trajectory in moving is removed by obtaining the real position for the present joint position and the desired distance is made by comparing the real position and the next position. Through the simple tests for suggested algorithms are confirmed the validity of algorithms.

• Journal of Welding and Joining
• /
• v.22 no.6
• /
• pp.43-49
• /
• 2004

In this study, a visual sensor system which can detect I-butt weld joint with height variation and includes a seam tracking algorithm was investigated. Three-dimensional position of an object can be acquired by using the method of distance measurement, i.e., an optical trigonometry which results from the spatial relations between the camera, the object and the structured light by a visible laser. Effects of laser intensity and iris number for the image quality as well as object material were investigated for the optical system design. For the image processing, a region of interest is defined from the whole image and a line image of laser is drew by using the gray level difference in the image. From the drew laser line, the weld joint can be recognized in searching the biggest point position calculated from the central difference method. Through a series of welding experiments, a good tracking performance was confirmed under GMA welding.

• Structural Engineering and Mechanics
• /
• v.3 no.1
• /
• pp.11-23
• /
• 1995

The examined model consists of two substructures linked by a right angle rigid line joint. One element is a wall loaded externally along its upper edge by an uneven vertical load. The other element, defined as a plate, is not loaded. Stresses and displacements in the vicinity of the joint are analysed, considering the lateral distribution which leads to three-dimensional effects. The proposed solution combines classical approach with numerical means, using appropriate stress distribution polynomial functions along the joint. Space structure constructions supply cases of interest.

• Journal of Welding and Joining
• /
• v.13 no.1
• /
• pp.78-88
• /
• 1995

This paper was performed to study the utility of the SP(small punch) test and the AE(acoustic emission) test in the evaluation of SCC(stress corrosion cracking) susceptibility for parent metal and bond line of HT80 steel-weld joint by SAW(submerged arc welding) with the various pH values. The loading rate used was 3*10$^{-4}$ mm/min and the corrosive environment used was synthetic sea water during the SP test and the AE test. According to the test results, the SCC susceptibility of the parent metal was increased in the order of pH6.0, pH8.2 and pH10.0. On the other hand, the bond line showed almost the same high SCC susceptibility in all pH concentrations. Synthetically, from the results of the SCC susceptibility, the macro- and micro-SEM observation, the microfracture behaviors by AE test and the relationship between SCC susceptibility and displacement at incipient failure, .delta.$_{i.f-AE}$, it can be concluded that the SP test and the AE test are the good test methods to evaluate the SCC susceptibility for parent metal and bond line of the weld joint with the change of environmental factors.

• Journal of Industrial Technology
• /
• v.18
• /
• pp.289-293
• /
• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.