• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Structural Engineering and Mechanics
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• v.47 no.6
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• pp.881-898
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• 2013

This paper describes analytical investigation into a new dual function system including a couple of shear links which are connected in series using chevron bracing capable to correlate its performance with magnitude of earthquakes. In this proposed system, called Chevron Knee-Vertical Link Beam braced system (CK-VLB), the inherent hysteretic damping of vertical link beam placed above chevron bracing is exclusively utilized to dissipate the energy of moderate earthquakes through web plastic shear distortion while the rest of the structural elements are in elastic range. Under strong earthquakes, plastic deformation of VLB will be halted via restraining it by Stopper Device (SD) and further imposed displacement subsequently causes yielding of the knee elements located at the bottom of chevron bracing to significantly increase the energy dissipation capacity level. In this paper first by studying the knee yielding mode, a suitable shape and angle for diagonal-knee bracing is proposed. Then finite elements models are developed. Monotonic and cyclic analyses have been conducted to compare dissipation capacities on three individual models of passive systems (CK-VLB, knee braced system and SPS system) by General-purpose finite element program ABAQUS in which a bilinear kinematic hardening model is incorporated to trace the material nonlinearity. Also quasi-static cyclic loading based on the guidelines presented in ATC-24 has been imposed to different models of CK-VLB with changing of vertical link beam section in order to find prime effectiveness on structural frames. Results show that CK-VLB system exhibits stable behavior and is capable of dissipating a significant amount of energy in two separate levels of lateral forces due to different probable earthquakes.

• Journal of the Korea Fashion and Costume Design Association
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• v.25 no.1
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• pp.153-168
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• 2023

Non-representation creates difference and change that can be used as a creative design method that satisfies contradictory requirements for similarity and differentiation. This study drew upon the characteristics of the concept of non-representation expressed in contemporary art and architecture, in which Gilles Deleuze's philosophical thinking was reflected, and analyzed the non-representation depicted in contemporary fashion. The non-representation expressed in contemporary art and architecture is as follows. Non-representation of delaying becoming focuses on reverting to preexisting objects and redefining traditional meaning, thereby delaying the representation of latent meaning. Non-representation of non-becoming removes existing values and typical forms and expresses amorphousness. Non-representation of becoming by repetition or reiteration realizes the difference caused by the passage of time by repeating or overlapping shapes. Non-representation of becoming expresses the transformation of space by flowing through time rather than by actual movement. Non-representation in contemporary fashion shows the following expression characteristics. First, the non-representation of deferring becoming deconstructs the traditional values and forms of clothing and expresses designs by displacement or juxtaposition. Second, the non-representation of non-becoming is expressed concepts unrelated to the body and focus upon amorphous objects that do not become concretized forms. Third, generative non-representation by repetition and overlap expresses the possibility of change by overlapping clothing items or details expressed by repeating segmented objects. Fourth, generative non-representation by movement reproduces the meaning of space and time by moving the shape of the clothing or visually changing the surface of the material of clothing. As a result of the study, the non-representation shown in contemporary fashion aims for versatility to conform to social changes. This study provides new insight into the fashion design method by increasing the understanding of the cocnept of non-representation and showing its potential.

• Steel and Composite Structures
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• v.44 no.5
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• pp.707-720
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• 2022

In the present work, bending and free vibration analyses of multilayered functionally graded (FG) graphene platelet (GPL) and fiber-reinforced hybrid composite beams are carried out using the parabolic function based shear deformation theory. Parabolic variation of transverse shear stress across the thickness of beam and transverse shear stress-free conditions at top and bottom surfaces of the beam are considered, and the proposed formulation incorporates a transverse displacement field. The present theory works only with four unknowns and is computationally efficient. Hamilton's principle has been employed for deriving the governing equations. Analytical solutions are obtained for both the bending and free vibration problems in the present work considering different variations of GPLs and fibers distribution, namely, FG-X, FG-U, FG-Λ, and FG-O for beams having simply-supported boundary condition. First, the matrix is assumed to be strengthened using GPLs, and then the fibers are embedded. Multiscale modeling for material properties of functionally graded graphene platelet/fiber hybrid composites (FG-GPL/FHRC) is performed using Halpin-Tsai micromechanical model. The study reveals that the distributions of GPLs and fibers have significant impacts on the stresses, deflections, and natural frequencies of the beam. The number of layers and shape factors widely affect the behavior of FG-GPL-FHRC beams. The multilayered FG-GPL-FHRC beams turn out to be a good approximation to the FG beams without exhibiting the stress-channeling effects.

• Journal of the Korean Geosynthetics Society
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• v.17 no.1
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• pp.55-64
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• 2018

The purpose of this study is to evaluate the suitability of emergency underground cavity restoration method filling cavity with expansive material based on numerical analysis. For the numerical analysis, experiments were conducted to evaluate properties of expansive material. Based on the measured expansion pressure of the expansive material from the experiment, behavior of underground cavity restoration with various cavity dimensions (variation of height and width of rectangular-shape cavity) was numerically assessed. As a result of analysis, the vertical displacements of the top and bottom of cavity were significantly influenced by the cavity width and lateral displacements of cavity sides were highly dependent on cavity height. These vertical and lateral displacements were increased with increasing expansion pressure of expansive material. Also, when the expansion pressure was applied, the vertical displacement of the upper surface layer of the road was less dependent on cavity height, and was greatly influenced by cavity width.

• Structural Engineering and Mechanics
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• v.86 no.2
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• pp.167-180
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• 2023

This work applies a four-known quasi-3D shear deformation theory to investigate the bending behavior of a functionally graded plate resting on a viscoelastic foundation and subjected to hygro-thermo-mechanical loading. The theory utilizes a hyperbolic shape function to predict the transverse shear stress, and the transverse stretching effect of the plate is considered. The principle of virtual displacement is applied to obtain the governing differential equations, and the Navier method, which comprises an exponential term, is used to obtain the solution. Novel to the current study, the impact of the viscoelastic foundation model, which includes a time-dependent viscosity parameter in addition to Winkler's and Pasternak parameters, is carefully investigated. Numerical examples are presented to validate the theory. A parametric study is conducted to study the effect of the damping coefficient, the linear and nonlinear loadings, the power-law index, and the plate width-tothickness ratio on the plate bending response. The results show that the presence of the viscoelastic foundation causes an 18% decrease in the plate deflection and about a 10% increase in transverse shear stresses under both linear and nonlinear loading conditions. Additionally, nonlinear loading causes a one-and-a-half times increase in horizontal stresses and a nearly two-times increase in normal transverse stresses compared to linear loading. Based on the article's findings, it can be concluded that the viscosity effect plays a significant role in the bending response of plates in hygrothermal environments. Hence it shall be considered in the design.

• Steel and Composite Structures
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• v.42 no.5
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• pp.617-631
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• 2022

To study the eccentric compressive performance of the basalt-fiber reinforced recycled aggregate concrete (BFRRAC)-filled circular steel tubular stub column, 8 specimens with different replacement ratios of recycled coarse aggregate (RCA), basalt fiber (BF) dosage, strength grade of recycled aggregate concrete (RAC) and eccentricity were tested under eccentric static loading. The failure mode of the specimens was observed, and the relationship curves during the entire loading process were obtained. Further, the load-lateral displacement curve was simulated and verified. The influence of the different parameters on the peak bearing capacity of the specimens was analyzed, and the finite element analysis model was established under eccentric compression. Further, the design-calculation method of the eccentric bearing capacity for the specimens was suggested. It was observed that the strength failure is the ultimate point during the eccentric compression of the BFRRAC-filled circular steel tubular stub column. The shape of the load-lateral deflection curves of all specimens was similar. After the peak load was reached, the lateral deflection in the column was rapidly increased. The peak bearing capacity decreased on enhancing the replacement ratio or eccentric distance, while the core RAC strength exhibited the opposite behavior. The ultimate bearing capacity of the BFRRAC-filled circular steel tubular stub column under eccentric compression calculated based on the limit analysis theory was in good agreement with the experimental values. Further, the finite element model of the eccentric compression of the BFRRAC-filled circular steel tubular stub column could effectively analyze the eccentric mechanical properties.

• Smart Structures and Systems
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• v.31 no.1
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• pp.89-100
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• 2023

This paper conducts a parametric study of a new tuned mass damper with pre-strained superelastic SMA helical springs (SMAS-TMD) on the vibration reduction effect. First, a force-displacement relation model of superelastic SMA helical spring is presented based on the multilinear constitutive model of SMA material, and the tension tests of the six SMA springs fabricated are implemented to validate the mechanical model. Then, a dynamic model of a single floor steel frame with the SMAS-TMD damper is set up to simulate the seismic responses of the frame, which are testified by the shaking table tests. The wire diameter, initial coil diameter, number of coils and pre-strain length of SMA springs are extracted to investigate their influences on the seismic response reduction of the frame. The numerical and experimental results show that, under different earthquakes, when the wire diameter, initial coil diameter and number of coils are set to the appropriate values so that the initial elastic stiffness of the SMA spring is between 0.37 and 0.58 times of classic TMD stiffness, the maximum reduction ratios of the proposed damper can reach 40% as the mass ratio is 2.34%. Meanwhile, when the pre-strain length of SMA spring is in a suitable range, the SMAS-TMD damper can also achieve very good vibration reduction performance. The vibration reduction performance of the SMAS-TMD damper is generally equal to or better than that of the classic optimal TMD, and the proposed damper effectively suppresses the detuning phenomena that often occurs in the classic TMD.

• Structural Monitoring and Maintenance
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• v.7 no.3
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• pp.215-231
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• 2020

In a reinforced concrete building different shapes of column are adopted depending on the structural orientation and the architectural aspect. When there is an increase in loading due to changes in usage or revision in the design codes these columns need to be strengthened for enhanced performance during their service life. Strengthening materials such as carbon fiber and glass fiber polymer has been successfully used however, due to high cost application other alternative materials need to be explore. Galvanized steel wire mesh (GSWM) is one of the suitable materials locally available. High tensile strength, low weight, corrosion resistance, easy installation, minimum change in dimensions of the sections and cost effectives are the advantages of GSWM. Therefore, in this paper, four different shapes of column such as circular, square, rectangular and L were wrapped with different layers GSWM and jacketed with mortar. All the specimens were tested under axial compression. The objective of the study is to investigate the effectiveness of GSWM as a confining material for strengthening of column having varying shape. Test results shows that the axial strength enhanced with wrapping of GSWM jacket and a circular column presented the highest load carrying capacity and ductility as compared to the others. From the study of 22 column specimens, it is found that axial load is increased upto 20% and 19% when circular and square column are strengthened with one wrap of GSWM respectively, while a rectangular and L column required a wraps of two and three layers respectively in order to achieved the same load capacity as that of a circular column. Based on the present study, it is concluded that GSWM can be effectively used for strengthening of different shapes of concrete columns economically.

• Structural Engineering and Mechanics
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• v.86 no.3
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• pp.291-309
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• 2023

This paper addresses the finite element modeling of functionally graded porous (FGP) beams for free vibration and buckling behaviour cases. The formulated finite element is based on simple and efficient higher order shear deformation theory. The key feature of this formulation is that it deals with Euler-Bernoulli beam theory with only three unknowns without requiring any shear correction factor. In fact, the presented two-noded beam element has three degrees of freedom per node, and the discrete model guarantees the interelement continuity by using both C⁰ and C¹ continuities for the displacement field and its first derivative shape functions, respectively. The weak form of the governing equations is obtained from the Hamilton principle of FGP beams to generate the elementary stiffness, geometric, and mass matrices. By deploying the isoparametric coordinate system, the derived elementary matrices are computed using the Gauss quadrature rule. To overcome the shear-locking phenomenon, the reduced integration technique is used for the shear strain energy. Furthermore, the effect of porosity distribution patterns on the free vibration and buckling behaviours of porous functionally graded beams in various parameters is investigated. The obtained results extend and improve those predicted previously by alternative existing theories, in which significant parameters such as material distribution, geometrical configuration, boundary conditions, and porosity distributions are considered and discussed in detailed numerical comparisons. Determining the impacts of these parameters on natural frequencies and critical buckling loads play an essential role in the manufacturing process of such materials and their related mechanical modeling in aerospace, nuclear, civil, and other structures.