• International Journal of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.85-94
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• 2022

Recently, consumers who prefer contactless consumption are increasing due to pandemic trends such as Corona 19. This is the driving force for developing the last mile-based logistics ecosystem centered on the online e-commerce market. Lastmile led to the continued development of the logistics industry, but increased the amount of cargo in urban area, and caused social problems such as overcrowding of logistics. The courier service in the logistics base area utilizes the process of visiting the delivery site directly because the courier must precede the loading work of the cargo in the truck for the delivery of the ordered product. Currently, it's carried out as automated logistics equipment such as conveyor belt in unloading or classification stage, but the automation system isn't applied, so the work efficiency is decreasing and the intensity of the courier worker's labor is increased. In particular, small-scale courier workers belonging to the sub-terminal unload at night at underdeveloped facilities outside the city center. Therefore, the productivity of the work is lowered and the risk of safety accidents is exposed, so robot-based loading technology is needed. In this paper, we have derived the top-level concept and requirements of robot-based loading system to increase the flexibility of logistics processing and to ensure the safety of courier drivers. We defined algorithms and motion concepts to increase the cargo loading efficiency of logistics sub-terminals through the requirements of end effector technology, which is important among concepts. Finally, the control technique was proposed to determine and position the load for design input development of the automatic conveyor system.

• Advances in concrete construction
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• v.14 no.5
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• pp.317-330
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• 2022

This paper investigated computationally and experimentally the interaction here between a notch as well as a micropore under uniaxial compression. Brazilian tensile strength, uniaxial tensile strength, as well as biaxial tensile strength are used to calibrate PFC2d at first. Then, uniaxial compression test was conducted which they included internal notch and micro pore. Experimental and numerical building of 9 models including notch and micro pore were conducted. Model dimensions of models are 10 cm × 10 cm × 5 cm. Joint length was 2 cm. Joints angles were 30°, 45° and 60°. The position of micro pore for all joint angles was 2cm upper than top of the joint, 2 cm upper than middle of joint and 2 cm upper than the joint lower tip, discreetly. The numerical model's dimensions were 5.4 cm × 10.8 cm. The fractures were 2 cm in length and had angularities of 30, 45, and 60 degrees. The pore had a diameter of 1 cm and was located at the top of the notch, 2 cm above the top, 2 cm above the middle, and 2 cm above the bottom tip of the joint. The uniaxial compression strength of the model material was 10 MPa. The local damping ratio was 0.7. At 0.016 mm per second, it loaded. The results show that failure pattern affects uniaxial compressive strength whereas notch orientation and pore condition impact failure pattern. From the notch tips, a two-wing fracture spreads almost parallel to the usual load until it unites with the sample edge. Additionally, two wing fractures start at the hole. Both of these cracks join the sample edge and one of them joins the notch. The number of wing cracks increased as the joint angle rose. There aren't many AE effects in the early phases of loading, but they quickly build up until the applied stress reaches its maximum. Each stress decrease was also followed by several AE effects. By raising the joint angularities from 30° to 60°, uniaxial strength was reduced. The failure strengths in both the numerical simulation and the actual test are quite similar.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Geomechanics and Engineering
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• v.30 no.6
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• pp.525-538
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• 2022

This paper presents a more general model for T-shaped combined footings that support two columns aligned on a longitudinal axis and each column provides an axial load and two orthogonal moments. This model can be applied to the following conditions: (1) without restrictions on its sides, (2) a restricted side and (3) two opposite sides restricted. This model considers the linear soil pressure. The recently published works have been developed for a restricted side and for two opposite sides restricted by Luévanos-Rojas et al. (2018a, b). The current model considers the uniform pressure distribution because the position of the resultant force coincides with the center of gravity of the surface of the footing in contact with the soil in direction of the longitudinal axis where the columns are located. This paper shows three numerical examples. Example 1 is for a T-shaped combined footing with a limited side (one column is located on the property boundary). Example 2 is for a T-shaped combined footing with two limited opposite sides (the two columns are located on the property boundary). Example 3 is for a T-shaped combined footing with two limited opposite sides, one column is located in the center of the width of the upper flange (b₁/2=L₁), and other column is located at a distance half the width of the strip from the free end of the footing (b₂/2=b-L₁-L). The main advantage of this work over other works is that this model can be applied to T-shaped combined footings without restrictions on its sides, a restricted side and two opposite sides restricted. It also shows the deficiencies of the current model over the new model.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.5 no.2
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• pp.207-214
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• 2015

Stress concentrations around discontinuities, such as a hole or a sudden change in cross section of a structural member, have great important cause in the most materials failure because the stress near the points of application of concentrated loads can reach values much larger than the average value of the stress in the member. This paper presents the stress concentrations between fillet and hole at different locations in a stepped plate under tensile loading. The analysis for interaction effect of stress concentration was performed by photoelasticity and ANSYS which is a commercial finite element software. From the analysis results, the circular hole located at the different position from the fillet radius can cause different values of stress concentration factor within interacting region.

• Steel and Composite Structures
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• v.46 no.6
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• pp.773-791
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• 2023

Connections with damage concentrated to pre-selected components can enhance seismic resilience for moment resisting frames. These pre-selected components always yield early to dissipate energy, and their energy dissipation mechanisms vary from one to another, depending on their position in the connection, geometry configuration details, and mechanical characteristics. This paper presents behaviour insights on two types of beam-to-beam connections that the angles were designed as energy dissipation components, through the results of experimental study and finite element analysis. Firstly, an experimental programme was reviewed, and key responses concerning the working mechanism of the connections were presented, including strain distribution at the critical section, section force responses of essential components, and initial stiffness of test specimens. Subsequently, finite element models of three specimens were established to further interpret their behaviour and response that were not observable in the tests. The moment and shear force transfer paths of the composite connections were clarified through the test results and finite element analysis. It was observed that the bending moment is mainly resisted by axial forces from the components, and the dominant axial force is from the bottom angles; the shear force at the critical section is primarily taken by the slab and the components near the top flange. Lastly, based on the insights on the load transfer path of the composite connections, preliminary design recommendations are proposed. In particular, a resistance requirement, quantified by a moment capacity ratio, was placed on the connections. Design models and equations were also developed for predicting the yield moment resistance and the shear resistance of the connections. A flexible beam model was proposed to quantify the shear resistance of essential components.

• Design & Manufacturing
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• v.16 no.2
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• pp.1-6
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• 2022

As environmental regulations are strengthened, automobile manufacturers continuously research lightweight structures based on carbon fiber reinforced plastic (CFRP). However, it is difficult to see the effect of strength reinforcement when using a single CFRP material. To improve this, a hybrid laminate in which CFRP is mixed with the existing body structural steel was proposed. In this paper, CFRP patch reinforcement is applied to each compression/tensile action surface of a 22MnB5 metal sheet, and it was evaluated through a 3-point bending experiment. Progressive failure was observed in similar deflection on bending deformation to each one-sided reinforced specimen. After progressive failure, the tensile reinforced specimen was confirmed to separate the damaged CFRP patch and 22MnB5 sheet from the center of the flexure. The compression reinforced specimen didn't separate that CFRP patch and 22MnB5, and the strength reinforcement behavior was confirmed. In the compression reinforced specimen, damaged CFRP patches were observed at the center of flexure during bending deformation. As a result of checking the specimen of the compression reinforcement specimen with an optical microscope, It is confirmed that the damaged CFRP patch and the reinforced CFRP patch overlapped, resulting in a concentrated load. Through the experimental results, the 22MnB5 strength reinforcement characteristics according to the reinforcement position of the CFRP patch were confirmed.

• Structural Engineering and Mechanics
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• v.84 no.3
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• pp.375-391
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• 2022

This paper discussed and analyzed the interfacial stress distribution characteristic of adjacent cracks in Carbon Fiber Reinforced Polymer (CFRP) plate strengthened concrete slabs. One un-strengthened concrete test beam and four CFRP plate-strengthened concrete test beams were designed to carry out four-point flexural tests. The test data shows that the interfacial shear stress between the interface of CFRP plate and concrete can effectively reduce the crack shrinkage of the tensile concrete and reduces the width of crack. The maximum main crack flexural height in pure bending section of the strengthened specimen is smaller than that of the un-strengthened specimen, the CFRP plate improves the rigidity of specimens without brittle failure. The average ultimate bearing capacity of the CFRP-strengthened specimens was increased by 64.3% compared to that without CFRP-strengthen. This indicites that CFRP enhancement measures can effectively improve the ultimate bearing capacity and delay the occurrence of debonding damage. Based on the derivation of mechanical analysis model, the calculation formula of interfacial shear stress between adjacent cracks is proposed. The distributions characteristics of interfacial shear stress between certain crack widths were given. In the intermediate cracking region of pure bending sections, the length of the interfacial softening near the mid-span cracking position gradually increases as the load increases. The CFRP-concrete interface debonding capacity with the larger adjacent crack spacing is lower than that with the smaller adjacent crack spacing. The theoretical calculation results of interfacial bonding shear stress between adjacent cracks have good agreement with the experimental results. The interfacial debonding failure between adjacent cracks in the intermediate cracking region was mainly caused by the root of the main crack. The larger the spacing between adjacent cracks exists, the easier the interfacial debonding failure occurs.

• Geomechanics and Engineering
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• v.36 no.3
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• pp.231-245
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• 2024

In recent decades, the protection and vulnerability of civil structures under explosion loads became a critical issue in terms of security, which may cause loss of lives and structural damage. Concrete retaining walls also restrict soils and slopes from displacements; meanwhile, intensive temporary loading may cause massive damage. In the current study, the modified Johnson-Holmquist (also known as J-H2) material model is implemented for concrete materials to model damages into the ABAQUS through user-subroutines to predict the blasting-induced concrete damages and volume strains. For this purpose, a 3D finite-element model of the concrete retaining wall was conducted in coupled Eulerian-Lagrangian simulation. Subsequently, a blast load equal to 500 kg of TNT was considered in three different positions due to UFC 3-340-02. Influences of the critical parameters in smooth blastings, such as distance from a free face, position, and effective blasting time, on concrete damage rate and destroy patterns, are explored. According to the simulation results, the concrete penetration pattern at the same distance is significantly influenced by the density of the progress environment. The result reveals that the progress of waves and the intensity of damages in free-air blasting is entirely different from those that progress in a dense surrounding atmosphere such as soil. Half-damaged elements in air blasts are more than those of embedded explosions, but dense environments such as soil impose much more pressure in a limited zone and cause more destruction in retaining walls.

• Journal of agriculture & life science
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• v.45 no.5
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• pp.105-113
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• 2011

This study was carried out to develop an automatic loading equipment that can load seedling trays on loading position of the seedling bed driving on enclosed-type rail installed for interconnecting each process of raising seedlings in plant factory. The experiment of transferring the seedling tray by monorail pusher was carried out to figure out the required transfer force and problems during push type device of transporting the plastic seedling trays, that has completed its sowing process, which are installed onto the board of different materials. From the results of this experiment, the loading equipment which can exactly load three of the seedling trays orderly on the loading position of the seedling bed was designed and made. When three sowed trays on every board are transferred by pusher with the speed is at 30 cm/s, the maximum peak transfer force with maximum overshooting at initial transient state and the maximum transfer force at stead state are were respectively 32.8 N, 29.4 N on rubber board, 29.7 N, 22.5 N on a wooden board, 26.9 N, 19.6 N on a acrylic board, and 27.6 N, 19.1 N on an iron board. Changes in the transfer force occurred its maximum at the moment when the pusher collided with the tray, after the collision gradually decreased until it became stable. When two or three trays placed it in order of widthwise are transferred, it is occurred the overlapping of the tray's external bracket. The developed automatic loading equipment with PLC controller did not make any operation error through 100 times of tests, its maximum seedling tray loading speed was 2 sec/tray and its maximum error of transferred location of the tray was 0.5 cm.