• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Computational Structural Engineering
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• v.10 no.4
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• pp.143-154
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• 1997

Astochastic finite element model which reflects both the effect of discontinuities and the uncertainty of material properties in underground rock mass has been developed. Latin Hypercube Sampling technique has been mobilized and compared with the Monte Carlo simulation method. To consider the effect of discontinuities, the joint finite element model, which is known to be suitable to explain faults, cleavage, things of that nature, has been used in this study. To reflect the uncertainty of material properties, multi-random variables are assumed as the joint normal stiffness and the joint shear stiffness, which could be simulated in terms of normal distribution. The developed computer program in this study has been verified by practical example and has been applied to analyze the circular cavern with discontinuous rock mass.

• Wind and Structures
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• v.25 no.3
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• pp.261-282
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• 2017

The probabilistic information of directional extreme wind speeds is important for precisely estimating the design wind loads on structures. A new joint probability distribution model of directional extreme wind speeds is established based on observed wind-speed data using multivariate extreme value theory with the t-Copula function in the present study. At first, the theoretical deficiencies of the Gaussian-Copula and Gumbel-Copula models proposed by previous researchers for the joint probability distribution of directional extreme wind speeds are analysed. Then, the t-Copula model is adopted to solve this deficiency. Next, these three types of Copula models are discussed and evaluated with Spearman's rho, the parametric bootstrap test and the selection criteria based on the empirical Copula. Finally, the extreme wind speeds for a given return period are predicted by the t-Copula model with observed wind-speed records from several areas and the influence of dependence among directional extreme wind speeds on the predicted results is discussed.

• Geomechanics and Engineering
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• v.28 no.2
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• pp.117-133
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• 2022

Determination of the mechanical behaviour of jointed rock masses has been a challenge for rock engineers for decades. This problem is more pronounced for non-persistent jointed rock masses due to complicated interaction of rock bridges on the overall behaviour. This paper aims to study the effect of a non-persistent joint set configuration on the mechanical behaviour of rock materials under both uniaxial and biaxial compression tests using a discrete element code. The numerical simulation of biaxial compressive strength of rock masses has been challenging in the past due to shortcomings of bonded particle models in reproducing the failure envelope of rock materials. This problem was resolved in this study by employing the flat-joint contact model. The validity of the numerical model was investigated through a comprehensive comparative study against physical uniaxial and biaxial compression experiments. Good agreement was found between numerical and experimental tests in terms of the recorded peak strength and the failure mode in both loading conditions. Studies on the effect of joint orientation on the failure mode showed that four zones of intact, transition to block rotation, block rotation and transition to intact failure occurs when the joint dip angle varies from 0° to 90°. It was found that the applied confining stress can significantly alter the range of these zones. It was observed that the minimum strength occurs at the joint dip angle of around 45 degrees under different confining stresses. It was also found that the joint orientation can alter the post peak behaviour and the lowest brittleness was observed at the block rotation zone.

• Computers and Concrete
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• v.27 no.2
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• pp.99-109
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• 2021

Experimental and discrete element methods were used to investigate the effects of echelon non-persistent joint on the failure behaviour of joint's bridge area under uniaxial compressive test. Concrete samples with dimension of 150 mm×100 mm×50 mm were prepared. Uniaxial compressive strength and tensile strength of concrete were 14 MPa and 1MPa, respectivly. Within the specimen, three echelon non-persistent notches were provided. These joints were distributed on the three diagonal plane. the angle of diagonal plane related to horizontal axis were 15°, 30° and 45°. The angle of joints related to diagonal plane were 30°, 45°, 60°. Totally, 9 different configuration systems were prepared for non-persistent joint. In these configurations, the length of joints were taken as 2 cm. Similar to those for joints configuration systems in the experimental tests, 9 models with different echelon non-persistent joint were prepared in numerical model. The axial load was applied to the model by rate of 0.05 mm/min. the results show that the failure process was mostly governed by both of the non-persistent joint angle and diagonal plane angle. The compressive strengths of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. It was shown that the shear behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint angle. The strength of samples increase by increasing both of the joint angle and diagonal plane angle. The failure pattern and failure strength are similar in both methods i.e. the experimental testing and the numerical simulation methods.

• Computers and Concrete
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• v.31 no.3
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• pp.207-221
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• 2023

In this investigation, the interaction between opening space and neighboring joint has been examined by experimental test and Particle flow code in two dimension (PFC2D) simulation. Since, firs of all PFC was calibrated using Brazilian experimental test and uniaxial compression test. Secondly, diverse configurations of opening and neighboring joint were provided and tested by uniaxial test. 12 rectangular sample with dimension of 10 cm*10 cm was prepared from gypsum mixture. One quarter of tunnel and one and or two joint were drilled into the sample. Tunnel diameter was 5.5 cm. The angularities of joint in physical test were 0°, 45° and 90°. The angularities of joint in numerical simulation were 0°, 30°, 60°, -30°, -45°, -60° and its length were 2cm and 4cm. Loading rate was 0.016 m/s. Tensile strength of material was 4.5 MPa. Results shows that dominant type of crack which took place in the model was tensile cracks and or several shear bands develop within the model. The Final stress is minimum in the cases where oriented angle is negative. The failure stress decrease by decreasing the joint angle from 30° to 60°. In addition, the failure stress decrease by incrementing the joint angle from -30° to -60°. The failure stress was incremented by decreasing the number of notches. The failure stress was incremented by decreasing the joint length. The failure stress was incremented by decreasing the number of notches. Comparing experimental results and numerical one, showed that the failure stress is approximately identical in both conditions.

• Advances in concrete construction
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• v.13 no.2
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• pp.199-213
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• 2022

Experimental and discrete element approaches were used to examine the effects of F shape non-persistent joints on the failure behaviour of concrete under uniaxial compressive test. concrete specimens with dimensions of 200 cm×200 cm×50 cm were provided. Within the specimen, F shape non-persistent joint consisting three joints were provided. The large joint length was 6 cm, and the length of two small joints were 2 cm. Vertical distance between two small joints change from 1.5 cm to 4.5 cm with increment of 1.5 cm. In constant joint lengths, the angle of large joint change from 0° to 90° with increments of 30°. Totally 12 different models were tested under compression test. The axial load rate on the model was 0.05 mm/min. Concurrent with experimental tests, numerical simulation (Particle flow code in two dimension) were performed on the models containing F shape non-persistent joint. Distance between small joints and joint angles were similar to experimental one. the results indicated that the failure process was mostly governed by both of the Distance between small joints and joint angles. The axial loading rate on the model was 0.05 mm/min. The compressive strengths of the samples were related to the fracture pattern and failure mechanism of the discontinuities. Furthermore, it was shown that the compressive behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint angle. In the first, there were only a few acoustic emission (AE) hits in the initial stage of loading, and then AE hits rapidly grow before the applied stress reached its peak. Furthermore, a large number of AE hits accompanied every stress drop. Finally, the failure pattern and failure strength are similar in both approaches i.e., the experimental testing and the numerical simulation approaches.

• Imaging Science in Dentistry
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• v.54 no.1
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• pp.71-80
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• 2024

Purpose: This study aimed to evaluate age-stratified radiographic features in temporomandibular joint osteoarthritis using cone-beam computed tomography. Materials and Methods: In total, 210 joints from 183 patients(144 females, 39 males, ranging from 12 to 88 years old with a mean age of 44.75±19.97 years) diagnosed with temporomandibular joint osteoarthritis were stratified by age. Mandibular condyle position and bony changes (flattening, erosion, osteophytes, subchondral sclerosis, and subchondral pseudocysts in both the condyle and articular eminence, thickening of the glenoid fossa, joint space narrowing, and joint loose bodies) were evaluated through cone-beam computed tomography. After adjusting for sex, the association between age groups and radiographic findings was analyzed using both a multiple regression model and a multinomial logistic regression model(α=0.05). Results: The prevalence of joint space narrowing and protruded condyle position in the glenoid fossa significantly increased with age (P<0.05). The risks of bony changes, including osteophytes and subchondral pseudocysts in the condyle; flattening, erosion, osteophyte, and subchondral sclerosis in the articular eminence; joint loose bodies; and thickening of the glenoid fossa, also significantly rose with increasing age (P<0.05). The number of radiographic findings increased with age; in particular, the increase was more pronounced in the temporal bone than in the mandibular condyle (P<0.05). Conclusion: Increasing age was associated with a higher frequency and greater diversity of bony changes in the temporal bone, as well as a protruded condyle position in the glenoid fossa, resulting in noticeable joint space narrowing in temporomandibular joint osteoarthritis.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.4
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• pp.138-142
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• 2018

This study used HILS to test an expansion joint, which is vulnerable to the water hammer effect. The operation data for the HIL simulator was the length rate of the expansion joint by the water hammer, which was used for life prediction based on the vibration durability. For the vibration durability test, the internal pressure of the expansion joint was assumed to be a factor of the durability life, and the lifetime prediction model equation was obtained by curve fitting the lifetime data at each pressure. During the test, the major failure modes of crack and water leakage occurred on the surface of the bellows part. The lifetime prediction model typically follows an inverse power law model. The pressure is a stress factor, and the model is effective in only a specific environment. Therefore, another stress factor such as temperature will be added and considered for a mixed lifetime prediction model in the future.

• The Korean Journal of Applied Statistics
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• v.29 no.1
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• pp.113-122
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• 2016

Longitudinal data often occur in prospective follow-up studies. Joint model for longitudinal data and failure time has been applied on several works. In this paper, we extend it to the case where longitudinal data involve informative observation time process as well as competing risks survival times. We use a likelihood approach and derive an EM algorithm to obtain maximum likelihood estimate of parameters. A suggested joint model allows us to make inferences for three components: longitudinal outcome, observation time process and competing risk failure time. In addition, we can test the association among these components. In this paper, liver cirrhosis patients' data is analyzed. The relationship between prothrombin times measured at irregular visiting times and drop outs is investigated with a joint model.