• Smart Structures and Systems
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• 제32권5호
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• pp.309-318
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• 2023

The appropriate maintenance of highway roads is critical for the safe operation of road networks and conserves maintenance costs. Multiple methods have been developed to investigate the surface of roads for various types of cracks and potholes, among other damage. Like road surface damage, the condition of expansion joints in concrete pavement is important to avoid unexpected hazardous situations. Thus, in this study, a new system is proposed for autonomous expansion joint monitoring using a vision-based system. The system consists of the following three key parts: (1) a camera-mounted vehicle, (2) indication marks on the expansion joints, and (3) a deep learning-based automatic evaluation algorithm. With paired marks indicating the expansion joints in a concrete pavement, they can be automatically detected. An inspection vehicle is equipped with an action camera that acquires images of the expansion joints in the road. You Only Look Once (YOLO) automatically detects the expansion joints with indication marks, which has a performance accuracy of 95%. The width of the detected expansion joint is calculated using an image processing algorithm. Based on the calculated width, the expansion joint is classified into the following two types: normal and dangerous. The obtained results demonstrate that the proposed system is very efficient in terms of speed and accuracy.

• Journal of Welding and Joining
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• 제23권3호
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• pp.68-75
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• 2005

The fatigue life of welded joints is associated with crack initiation and propagation life. Theses cannot be easily separated, since the definition of crack initiation is vague due to the initiation of multiple cracks that are distributed randomly along the weld toes. In this paper a method involving a notch strain and fracture mechanical approach, which considers the characteristics of welded joints, e.g. welding residual stress and statistical characteristics of multiple cracks, is proposed, in an attempt to reasonably estimate these fatigue lives. The fatigue crack initiation life was evaluated statistically, e.g. the probability of failure occurrence in 2.3, 50 and $97.7\%$, in which the cyclic response of the local stress/strain hi the vicinity of the weld toes and notch factors derived by the irregular shape of the weld bead are taken into account. The fatigue crack propagation life was simulated by using Monte-Carlo method in consideration of the Ad-factor and the mechanical behavior of mutual interaction/coalescence between two adjacent cracks. The estimated total fatigue life, $(N_T)_{P50\%}$, as a sum of crack initiation and propagation life under the probability of failure occurrence in $50\%$ showed a good agreement with the experimental results. The developed technique for fatigue lift estimation enables to provide a quantitative proportion of crack initiation and propagation life in the total fatigue life due to the nominal stress range, ${\Delta}S$.

• Ocean Systems Engineering
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• 제8권4호
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• pp.409-426
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• 2018

This paper presents the strengthening of tubular joint by wrapping Carbon fiber reinforced polymer (CFRP) and glass fiber reinforced polymer (GFRP). In this study, total number of layers, stacking sequence and length of wrapping are the different parameters involved when fiber reinforced polymers (FRP) composites are used for strengthening. For this, parameters where varied and results were compared with the reference joint. The best stacking sequence was identified which has the highest value in ultimate load with lesser deflections. For determining the best stacking sequence, numerical investigation was performed on CFRP composites; length of wrapping and number of layers were fixed. Later, the studies were focused on CFRP and GFRP strengthened joint by varying the total number of layers and length of wrapping. An attempt was done to propose a parametric equation from multiple regression analysis, which can be used for CFRP strengthened joints. Hashin failure criteria was used to check the failure of composites. Results revealed that FRP was having a greater influence in the load bearing capacity of joints, and in reducing the deflections and stresses of joint under axial compressive loads. It was also seen that, CFRP was far better than GFRP in reducing the stresses and deflection.

• 한국정밀공학회지
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• 제10권3호
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• 연구논문집
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• 통권27호
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• pp.175-181
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• 1997

Superconducting joints between Bi-2223/Ag tapes are fabricated by a press & reaction anneal and a multiple press & anneal. The silver sheath was mechanically or chemically removed from one side of each tape without altering the superconducting core. The exposed superconducting core of the two tapes were brought into contact and pressed so as to form a lap joint. The joined tapes were then subjected to a series of different thermomechanical treatments to achieve optimum heat treatment condition. The result from transport measurements shows that critical current ($I_c$) transmitting through joined area reaches 9A, approximately 60% of the current capacity of the tapes themselves. The critical current through joined area was improved by repeated press and reaction annealing. Measurements of the current-voltage relationship were made with several configuration of the voltage probes to characterize the critical current variation and I-V curve along the joint. Also discussed are microstructural aspects of the superconducting joint.

• 대한기계학회논문집
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• 제14권6호
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• pp.1446-1454
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• 1990

본 연구에서는 다간극기구의 간극의 영향을 제거하기 위해 코일스프링의 사용 을 대안으로 제시하였다.

• Smart Structures and Systems
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• 제32권1호
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• pp.23-35
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• 2023

Steel bolted joint is an important part of steel structure, and its damage directly affects the bearing capacity and durability of steel structure. Currently, the existing research mainly focuses on the identification of corroded bolts and corroded bolts respectively, and there are few studies on multiple states. A detection framework of corroded and loosened bolts is proposed in this study, and the innovations can be summarized as follows: (i) Vision Transformer (ViT) is introduced to replace the third and fourth C3 module of you-only-look-once version 5s (YOLOv5s) algorithm, which increases the attention weights of feature channels and the feature extraction capability. (ii) Three states of the steel bolts are considered, including corroded bolt, bolt missing and clean bolt. (iii) Line segment detector (LSD) is introduced for bolt rotation angle calculation, which realizes bolt looseness detection. The improved YOLOv5s model was validated on the dataset, and the mean average precision (mAP) was increased from 0.902 to 0.952. In terms of a lab-scale joint, the performance of the LSD algorithm and the Hough transform was compared from different perspective angles. The error value of bolt loosening angle of the LSD algorithm is controlled within 1.09%, less than 8.91% of the Hough transform. Furthermore, the proposed framework was applied to fullscale joints of a steel bridge in China. Synthetic images of loosened bolts were successfully identified and the multiple states were well detected. Therefore, the proposed framework can be alternative of monitoring steel bolted joints for management department.

• Steel and Composite Structures
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• 제29권5호
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• pp.635-645
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• 2018

Beam-column joints play a significant role in static and dynamic performances of reinforced concrete frame structures. This study contributes a numerical approach of topologically optimal design of carbon fiber reinforced plastics (CFRP) to retrofit existing beam-column connections with crack patterns. In recent, CFRP is used commonly in the rehabilitation and strengthening of concrete members due to the remarkable properties, such as lightweight, anti-corrosion and simplicity to execute construction. With the target to provide an optimal CFRP configuration to effectively retrofit the beam-column connection under semi-failure situation such as given cracks, extended finite element method (X-FEM) is used by combining with multi-material topology optimization (MTO) as a mechanical description approach for strong discontinuity state to mechanically model cracked structures. The well founded mathematical formulation of topology optimization problem for cracked structures by using multiple materials is described in detail in this study. In addition, moved and regularized Heaviside functions (MRHF), that have the role of a filter in multiple materials case, is also considered. The numerical example results illustrated in two cases of beam-column joints with stationary cracks verify the validity, benefit and supremacy of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2719-2724
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• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권5호
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• pp.1856-1869
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• 2015

This paper addresses the issues of 3D human activity detection, tracking and recognition from RGB-D video sequences using a feature structured framework. During human tracking and activity recognition, initially, dense depth images are captured using depth camera. In order to track human silhouettes, we considered spatial/temporal continuity, constraints of human motion information and compute centroids of each activity based on chain coding mechanism and centroids point extraction. In body skin joints features, we estimate human body skin color to identify human body parts (i.e., head, hands, and feet) likely to extract joint points information. These joints points are further processed as feature extraction process including distance position features and centroid distance features. Lastly, self-organized maps are used to recognize different activities. Experimental results demonstrate that the proposed method is reliable and efficient in recognizing human poses at different realistic scenes. The proposed system should be applicable to different consumer application systems such as healthcare system, video surveillance system and indoor monitoring systems which track and recognize different activities of multiple users.