• Steel and Composite Structures
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• v.21 no.5
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• pp.1017-1029
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• 2016

When a welded circular hollow section (CHS) tubular joint is subjected to brace axial loading, failure position is located usually at the weld toe on the chord surface due to the weak flexural stiffness of the thin-walled chord. The failure mode is local yielding or buckling in most cases for a tubular joint subjected to axial load at the brace end. Especially when a cyclic axial load is applied, fracture failure at the weld toe may occur because both high stress concentration and welding residual stress along the brace/chord intersection cause the material in this region to become brittle. To improve the ductility as well as to increase the static strength, a tubular joint can be reinforced by increasing the chord thickness locally near the brace/chord intersection. Both experimental investigation and finite element analysis have been carried out to study the hysteretic behaviour of the reinforced tubular joint. In the experimental study, the hysteretic performance of two full-scale circular tubular T-joints subjected to cyclic load in the axial direction of the brace was investigated. The two specimens include a reinforced specimen by increasing the wall thickness of the chord locally at the brace/chord intersection and a corresponding un-reinforced specimen. The hysteretic loops are obtained from the measured load-displacement curves. Based on the hysteretic curves, it is found that the reinforced specimen is more ductile than the un-reinforced one because no fracture failure is observed after experiencing similar loading cycles. The area enclosed by the hysteretic curves of the reinforced specimen is much bigger, which shows that more energy can be dissipated by the reinforced specimen to indicate the advantage of the reinforcing method in resisting seismic action. Additionally, finite element analysis is carried out to study the effect of the thickness and the length of the reinforced chord segment on the hysteretic behaviour of CHS tubular T-joints. The optimized reinforcing method is recommended for design purposes.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.775-782
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• 2013

In this study, as a series of studies aimed at investigating the spatial randomness of fatigue crack growth for friction stir welded (FSWed) 7075-T651 aluminum alloy joints, the fatigue crack growth behavior of FSWed 7075-T651 aluminum alloy joints was investigated for LT orientation specimens. Fatigue crack growth tests were conducted under constant stress intensity factor range (SIFR) control for 5 specimens of the FSWed 7075-T651 aluminum alloy, including base metal (BM), heat affected zone (HAZ), and weld metal (WM) specimens. The mean fatigue crack growth rate of WM specimens was found to be the highest, whereas that of HAZ and WM specimens was the lowest. Furthermore, the variability of fatigue crack growth rate was found to be the highest in WM specimens and lowest in BM specimens.

• Earthquakes and Structures
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• v.4 no.4
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• pp.429-449
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• 2013

Current Design Codes for Reinforced Concrete (RC) interior beam-column joints are based on limited experimental studies on the seismic behavior of eccentric joints. To supplement existing information, an experimental study was conducted that focused on the effect of eccentricity of the deeper beams with respect to the shallow beams. A total of eight one-third scale interior joints with beams of different depths were subjected to reverse cyclic loading. The primary variables in the test specimens were the amount of joint transverse reinforcement and the cross section of the shallow beams. The overall performance of each test assembly was found to be unsatisfactory in terms of joint shear strength, stiffness, energy dissipation and shear deformation. The results indicated that the vertical eccentricity of spandrel beams in this type of joint led to lower capacity in joint shear strength and severe damage of concrete in the joint core. Increasing the joint shear reinforcement was not effective to alter the failure mode from joint shear failure to beam yielding which is favorable for earthquake resistance design, whereas it was effective to reduce the crack width at the small loading stages. Based on the observed behavior, the shear stress of the joint core was suggested to be kept as low as possible for a safe and practical design of this type of joint.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• Steel and Composite Structures
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• v.23 no.1
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• pp.17-29
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• 2017

The seismic performance of steel beam to concrete-encased composite column with unsymmetrical steel section joints is investigated and reported within this paper. Experimental and analytical evaluation were conducted on a total of 8 specimens with T-shaped and L-shaped steel section under lateral cyclic loading and axial compression. The test parameters included concrete strength, stirrup ratio and axial compression ratio. The response of the specimens was presented in terms of their hysterisis loop behavior, stress distribution, joint shear strength, and performance degradation. The experiment indicated good structural behavior and good seismic performance. In addition, a three-dimensional nonlinear finite-element analysis simulating was conducted to simulate their seismic behaviors. The finite-element analysis incorporated both bond-slip relationship and crack interface interaction between steel and concrete. The results were also compared with the test data, and the analytical prediction of joint shear strength was satisfactory for both joints with T-shaped and L-shaped steel section columns. The steel beam to concrete-encased composite column with unsymmetrical steel section joints can develop stable hysteretic response and large energy absorption capacity by providing enough stirrups and decreased spacing of transverse ties in column.

• Earthquakes and Structures
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• v.11 no.4
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• pp.665-680
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• 2016

This paper focuses on the study of seismic behavior of steel reinforced concrete special-shaped column-beam joints. Six specimens, which are designed according to the principle of strong-member and weak-joint core, are tested under low cyclic reversed load. Key parameters include the steel form in column section and the ratio of column limb height to thickness. The failure mode, load-displacement curves, ductility, stiffness degradations, energy dissipation capacity and shear deformation of joint core of the test subassemblies are analyzed. The results indicate that SRC special-shaped column-beam joints have good seismic behavior. All specimens failed due to the shear failure of the joint core, and the failure degree between the two sides of joint core is similar for the exterior joint but different for the corner joint. Compared to the joints with channel steel truss, the joints with solid web steel skeleton illustrate better ductility and energy dissipation capacity, but the loading capacity and stiffness are roughly close. With the increasing of the ratio of column limb height to thickness, the joints illustrate higher loading capacity and stiffness, better energy dissipation capacity, but worse ductility.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.10a
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• pp.43-50
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• 1998

The current design equations for ultimate strength of tubular joints are based on a limited number of experimental results performed on simple joints with simple loading conditions and depend on value of the branch to the chord diameter- ratio $\beta$ too much. Therefore, the purpose of this study is to estimate the ultimate strength of CHS tilbular joints considering the effects of branch inclination angles $\theta$, chord length to diametel ratio $\alpha$ and chord end conditions by finite element analysis. The analyses are performed using finite element software ADINA that is capable of modeling elasto-plastic material behavior as well as geometric nonlinearities. The results show that the current use of sin $\theta$ in normalized design equations for inclined branches is reasonable, but somewhat conservative. When compared with the previous experimental database, the close numerical results are obtained from the parametric studies on the static strength of T-, Y-, DT- and X-joints. Also, a new design equation for ultimate stregth of CHS tubular joints is derived using a modified version of the ring model which can include the effects of $\alpha$ and chord end condtion.

• Structural Engineering and Mechanics
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• v.89 no.1
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• pp.61-75
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• 2024

Strengthening of hollow structural sections using through-bolts is a cost-effective and straightforward approach. It's a versatile method that can be applied during both design and service phases, serving as a non-disruptive and budget-friendly retrofitting solution. Existing research on axially loaded hollow sections T-joints has demonstrated that this technique can amplify the joint strength by 50%, where single bolt could enhance the strength of the joint by 35%. However, there's a gap in understanding their use for K-joints. As the behavior of K-joints is more complex, and they are widely existent in structures, this study aims to bridge that gap by conducting comprehensive parametric study using finite element analysis. Numerical investigation was conducted to evaluate the effect of through bolts on K-joints focusing on using single through bolt to achieve most of the strengthening effect. A full-scale parametric model was developed to investigate the effect of various geometric parameters of the joint. This study concluded the existence of optimal bolt location to achieve the highest strength gain for the joint. Moreover, a rigorous statistical analysis was conducted on the data to propose design equations to predict optimal bolt location and the corresponding strength gain implementing the verified by finite element models.

• Journal of Korean Society of Steel Construction
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• v.21 no.5
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• pp.451-459
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• 2009

The purpose of this study was to evaluate the in-plane bending moment for T-joints made of cold-formed square hollow steel sections. In the previous studies, the T-joint was shown not to have an obvious peak load, and the failure mode was the main chord flange failure at the branch-width-to-chord-width ratio ($\beta$) of below 0.71. Based on the experimental results, including the tests conducted by Zhao, the deformation limit of 1% B was proposed for ${16.7{\leq}2{\gamma}(=B/T){\leq}33}$ and ${0.34{\leq}{\beta}(=b_{1}/B){\leq}0.71}$. Then, the ultimate in-plane bending strength was shown to be Mu=1.5${\cdot}$M1% B. The existing strength formulae for the original T-joint were investigated and were determined to be the main chord flange failure for the branch-squared T-joint. The bending strength formulae of CIDECT and other researchers were compared with the test results. Finally, a reasonably good agreement with Zhao's formula was found. Therefore, the design guidelines were presented based on Zhao's strength formula for T-joints.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.9
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• pp.1109-1116
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• 2013

This study aims to investigate the spatial randomness of fatigue crack growth rate for the friction stir welded (FSWed) 7075-T651 aluminum alloy joints. Our previous fatigue crack growth test data are adopted in this investigation. To clearly understand the spatial randomness of fatigue crack growth rate, fatigue crack growth tests were conducted under constant stress intensity factor range (SIFR) control testing. The experimental data were analyzed for two different materials-base metal (BM) and weld metal (WM)-to investigate the effects of spatial randomness of fatigue crack growth rate and material properties, the friction stir welded (FSWed) 7075-T651 aluminum alloy joints, namely weld metal (WM) and base metal (BM). The results showed that the variability, as evaluated by Weibull statistical analysis, of the WM is higher than that of the BM.