• 한국기계기술학회지
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• 제13권3호
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• pp.7-16
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• 2011

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot's posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot's posture and payload change. That's why the moments $M_x$, $M_y$ and $M_z$ working on every joint of a robot vary with robot's posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot's posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot's posture and payload through neural network learning.

• Coupled systems mechanics
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• 제2권3호
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• pp.289-302
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• 2013

The piled raft is a geotechnical construction, consisting of the three elements-piles, raft and the soil, that is applied for the foundation of a tall buildings in an increasing number. The piled rafts nowadays are preferred as the foundation to reduce the overall and differential settlements; and also, provides an economical foundation option for circumstances where the performance of the raft alone does not satisfy the design requirements. The finite element analysis of the piled raft foundation is presented in this paper. The numerical procedure is programmed into finite element based software SAFE in order to conduct the parametric study wherein soil modulus and raft thickness is varied for constant pile diameter. The problems of piled raft for three different load patterns as considered in the available literature (Sawant et al. 2012) are analyzed here using SAFE. The results obtained for load pattern-I using SAFE are compared with those obtained by Sawant et al. (2012). The fair agreement is observed in the results which demonstrate the accuracy of the procedure employed in the present investigation. Further, substantial reduction in maximum deflections and moments are found in piled raft as compared to that in raft. The reduction in deflections is observed with increase in raft thickness and soil modulus. The decrease in maximum moments with increase in soil modulus is seen in raft whereas increase in maximum moments is seen in piled raft. The raft thickness and soil modulus affects the response of the type of the foundation considered in the present investigation.

• 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.

• Geomechanics and Engineering
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• 제16권6호
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• pp.635-642
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• 2018

Braced excavation systems are commonly required to ensure stability in construction of basements for shopping malls, underground transportation and other habitation facilities. For excavations in deposits of soft clays or residual soils, stiff retaining wall systems such as diaphragm walls are commonly adopted to restrain the ground movements and wall deflections in order to prevent damage to surrounding buildings and utilities. The ground surface settlement behind the excavation is closely associated with the magnitude of basal heave and the wall deflections and is also greatly influenced by the possible groundwater drawdown caused by potential wall leakage, flow from beneath the wall, flow from perched water and along the wall interface or poor panel connections due to the less satisfactory quality. This paper numerically investigates the influences of excavation geometries, the system stiffness, the soil properties and the groundwater drawdown on ground surface settlement and develops a simplified maximum surface settlement Logarithm Regression model for the maximum ground surface settlement estimation. The settlements estimated by this model compare favorably with a number of published and instrumented records.

• Steel and Composite Structures
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• 제32권6호
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• pp.731-741
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• 2019

Shear deformation effects are neglected in most structural system identification methods. This assumption might lead to important errors in some structures like built up steel or composite deep beams. Recently, the observability techniques were presented as one of the first methods for the inverse analysis of structures including the shear effects. In this way, the mechanical properties of the structures could be obtained from the nodal movements measured on static tests. One of the main controversial features of this procedure is the fact that the measurement set must include rotations. This characteristic might be especially problematic in those structures where rotations cannot be measured. To solve this problem and to increase its applicability, this paper proposes an update of the observability method to enable the structural identification including shear effects by measuring only vertical deflections. This modification is based on the introduction of a numerical optimization method. With this aim, the inverse analysis of several examples of growing complexity are presented to illustrate the validity and potential of the updated method.

• 국제강구조저널
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• 제18권4호
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• pp.1397-1409
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• 2018

Stiffened plates with high slenderness parameters show large out-of-plane deflections, due to elastic buckling, which may occur before the plates reach their ultimate strength. From a serviceability point of view, restriction of out-of-plane deflections exceeding the fabrication tolerance is of primary importance. Compressive strength at the serviceability limit state (SLS) for slender stiffened plates under uniaxial stress was investigated through nonlinear elasto-plastic finite element analysis, considering both geometric and material nonlinearity. Both normal and high-performance steel were considered in the study. The SLS was defined based on a deflection limit and an elastic buckling strength. Probabilistic distributions of the SLS strengths were obtained through Monte Carlo simulations, in association with the response surface method. On the basis of the obtained statistical distributions, partial safety factors were proposed for SLS. Comparisons with the ultimate strength of different design codes e.g. Japanese Code, AASHTO, and Canadian Code indicate that AASHTO and Canadian Code provide significantly conservative design, while Japanese Code matches well with a 5% non-exceedance probability for compressive strength at SLS.

• Steel and Composite Structures
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• 제38권1호
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• pp.1-15
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• 2021

In this paper, a higher order shear deformation theory for bending analysis of functionally graded plates resting on Pasternak foundation and under various boundary conditions is exposed. The proposed theory is based on the assumption that porosities can be produced within functionally graded plate which may lead to decline in strength of materials. In this research a novel distribution of porosity according to the thickness of FG plate are supposing. Governing equations of the present theory are derived by employing the virtual work principle, and the closed-form solutions of functionally graded plates have been obtained using Navier solution. Numerical results for deflections and stresses of several types of boundary conditions are presented. The exactitude of the present study is confirmed by comparing the obtained results with those available in the literature. The effects of porosity parameter, slenderness ratio, foundation parameters, power law index and boundary condition types on the deflections and stresses are presented.

• Steel and Composite Structures
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• 제39권1호
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• pp.21-33
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• 2021

This paper aims to improve the current state-of-the-art in long-term deflection prediction in steel-concrete composite beams. The efficiency of a time-dependent finite element model based on linear creep theory is verified with available experimental data. A parametric numerical study is then carried out, which focuses on the effects of concrete creep and/or shrinkage, ultimate shrinkage strain and reinforcing bars in the slab. The study shows that the long-term deformations in composite beams are dominated by concrete shrinkage and that a higher area of reinforcing bars leads to lower long-term deformations and steel stresses. The AISC model appears to overestimate the shrinkage-induced deflection. A modified ACI equation is proposed to quantify time-dependent deflections in composite beams. In particular, a modified reduction factor reflecting the influence of reinforcing bars and a coefficient reflecting the influence of ultimate shrinkage are introduced in the proposed equation. The long-term deflections predicted by this equation and the results of extensive numerical analyses are found to be in good agreement.

• Advances in Computational Design
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• 제8권1호
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• pp.1-12
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• 2023

To consider the effects of the increasing speed of next-generation high-speed trains, the existing traffic safety code for railway bridges needs to be improved. This study suggests a numerical method of evaluating the new effects of this increasing speed on railway bridges. A prestressed concrete (PSC) box bridge with a 40 m span length on the Gyeongbu track sector is selected as a representative example of high-speed railway bridges in Korea. Numerical models considering the inertial mass forces of a 38-degree-of-freedom train and the interaction forces with the bridge as well as track irregularities are presented in detail. The vertical deflections and accelerations of the deck are calculated and compared to find the new effects on the bridge arising with increasing speed under simply and continuously supported boundary conditions. The ratios between the static and dynamic responses are calculated as the dynamic amplification factors (DAFs) under different running speeds to evaluate the traffic safety. The maximum deflection and acceleration caused by the running speed are indicated, and regression equations for predicting these quantities based on the speed are also proposed.

• Steel and Composite Structures
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• 제48권4호
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• pp.419-428
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• 2023

In this paper, dynamic and static bending of ball modelled by nanocomposite microbeam by nanoparticles seeing agglomeration is presented. The structural damping is considered by Kelvin-Voigt model. The agglomeration effects are assumed using Mori-Tanaka model. The football ball is modeled by third order shear deformation theory (TSDT). The motion equations are derived by principle of Hamilton's and energy method assuming size effects on the basis of Eringen theory. Using differential quadrature method (DQM) and Newmark method, the static and dynamic deflections of the structure are obtained. The effects of agglomeration and CNTs volume percent, damping of structure, nonlocal parameter, length and thickness of micro-beam are presented on the static and dynamic deflections of the nanocomposite structure. Results show that with increasing CNTs volume percent, the maximum dimensionless dynamic deflection is reduced about 17%. In addition, assuming CNTs agglomeration increases the dimensionless dynamic deflection about 14%. It is also found that with increasing the CNTs volume percent from 0 to 0.15, the static deflection is decreased about 3 times due to the enhance in the stiffness of the structure. In addition, with enhancing the nonlocal parameters, the dynamic deflection is increased about 3.1 times.