• Structural Engineering and Mechanics
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• 제24권3호
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• pp.307-321
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• 2006

This paper is concerned with the behaviour of steel and concrete composite joints subjected to reversal of loading. Three cruciform composite joint specimens and one bare steel joint specimen were tested so that one side of the beam-to-column connection was under negative moment and another side under positive moment. The steelwork beam-to-column connections were made of bolted end plate with an extended haunch section. Composite slabs employing metal decking were used for all the composite joint specimens. The moment-rotation relationships for the joints were obtained experimentally. Details of the experimental observations and results were reported.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.68-75
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• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• Steel and Composite Structures
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• 제29권6호
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• pp.717-734
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• 2018

This paper presents the flexural performance of steel beam-to-column joints composed of hollow structural section beams and columns. A finite element (FE) model was developed incorporating geometrical and material nonlinearities to evaluate the behaviour of joints subjected to bending moments. The numerical outcomes were validated with experimental results and compared with EN1993-1-8. The demountability of the structure was discussed based on the tested specimen. A parametric analysis was carried out to investigate the effects of steel yield strength, end-plate thickness, beam thickness, column wall thickness, bolt diameter, number of bolts and location. Consequently, an analytical model was derived based on the component method to predict the moment-rotation relationships for the sub-assemblies with extended end-plates. The accuracy of the proposed model was calibrated by the experimental and numerical results. It is found that the FE model is fairly reliable to predict the initial stiffness and moment capacity of the joints, while EN1993-1-8 overestimates the initial stiffness extensively. The beam-to-column joints are shown to be demountable and reusable with a moment up to 53% of the ultimate moment capacity. The end-plate thickness and column wall thickness have a significant influence on the joint behaviour, and the layout of double bolt-rows in tension is recommended for joints with extended end-plates. The derived analytical model is capable of predicting the moment-rotation relationship of the structure.

• Steel and Composite Structures
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• 제7권2호
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• pp.87-103
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• 2007

This paper presents some of the results from an experimental research project on the behavior of extended end-plate connections subjected to moment conducted at the Structural Laboratory of Jordan University of Science and Technology. Since the connection behavior affects the structural frame response, it must be included in the global analysis and design. In this study, the behavior of six full-scale stiffened and unstiffened cantilever connections of HEA- and IPE-sections has been investigated. Eight high strength bolts were used to connect the extended end-plate to the column flange in each case. Strain gauges were installed inside each of the top six bolts in order to obtain experimentally the actual tension force induced within each bolt. Then the connection behavior is characterized by the tension force in the bolt, extended end-plate behavior, moment-rotation relation, and beam and column strains. Some or all of these characteristics are used by many Standards; therefore, it is essential to predict the global behavior of column-beam connections by their geometrical and mechanical properties. The experimental test results are compared with two theoretical (equal distribution and linear distribution) approaches in order to assess the capabilities and accuracy of the theoretical models. A simple model of the joint is established and the essential parameters to predict its strength and deformational behavior are determined. The equal distribution method reasonably determined the tension forces in the upper two bolts while the linear distribution method underestimated them. The deformation behavior of the tested connections was characterized by separation of the column-flange from the extended end-plate almost down to the level of the upper two bolts of the lower group and below this level the two parts remained in full contact. The neutral axis of the deformed joint is reasonably assumed to pass very close to the line joining the upper two bolts of the lower group. Smooth monotonic moment-rotation relations for the all tested frames were observed.

• 근관절건강학회지
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• 제20권3호
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• pp.197-206
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• 2013

Purpose: The purpose of this study was to investigate end-of-life care preferences of employees working in a university hospital. Methods: Of 650 eligible employees that were approached, 607 employees (386 nurses, 93 physicians, and 128 general staff) completed the Korean version of Preferences for Care Near the End of Life (PCEOL-K). Results: Among 5 dimensions of the PECOL-K, "Pain" was the most preferred care dimension and "Decision making by health care professional" was the least preferred care dimension. The item that received the highest mean score was "I want to let nature guide my dying and I do not want my life to be artificially prolonged in any way", and the lowest item was "I want health care providers to make all decisions about my care". As preferred care near the end of life, nurses gave lower scores to the life sustaining treatment and decision making by health care profession than physicians and general staff. Compared to physicians and nurses, general staff preferred the decision making by health care professional and by family. Conclusion: The results show that adequate pain relief is the most preferred care at the end of life among hospital employees and non-medical personnel preferred decision making by others.

• 한국강구조학회 논문집
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• 제12권4호통권47호
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• pp.445-455
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• 2000

본 연구는 최근의 건설 환경 변화에 따른 여러 가지 제문제점들에 대한 구조적 측면에서의 대응책의 하나로서 새로운 구조 시스템 전개를 위해 이종구조부재로 구성된 보기둥 접합부 모델을 제안한 것이다. 본 연구에서는 장스팬 S보의 강성을 향상시키기 위해 S조의 단부를 RC조로 보강하여 강성 및 내력증대를 꾀하였으며, 이종구조 사이의 원활한 응력 전달을 목적으로 SRC조 단부의 보 주근은 U자형 갈고리 모양으로 정착하여 철골 플랜지에 용접 접합하였다. 일련의 실험을 통해 접합부 강성 및 내력 특성을 고찰하였고 본 접합부의 가능성을 제시하였다.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.728-733
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• 2009

This paper presents the compensation of mechanical deflection error in SCARA robot. End of robot gripper is deflected by weight of arm and pay-load. If end of robot gripper is deflected constantly regardless of robot configuration, it is not necessary to consider above mechanical deflection error. However, deflection in end of gripper varies because that moment of each axis varies when robot moves, it affects the relative accuracy. I propose the compensation method of deflection error using neural network. FEM analysis to obtain the deflection of gripper end was carried out on various joint angle, the results is used in neural network teaming. The result by simulation showed that maximum relative accuracy reduced maximum 9.48% on a given working area.

• 대한산업공학회지
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• 제38권2호
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• pp.116-124
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• 2012

This paper concerns a joint replenishment problem for a single buyer who sells multiple types of items to end-customers. The buyer periodically replenishes the inventory of each item to a preset order-up-to-level to satisfy the end customers' demands, which may be non-stationary. A joint replenishment policy characterized by variable order-up-to-levels is proposed for the buyer who wishes to minimize the expected cost of operating the retail system. The proposed policy starts each period by calculating the expected cost of ordering and not ordering action based on the information of the current inventory position and forecasted demand for the upcoming period. It then takes advantage of an integer programming model to get a cost effective joint replenishment plan. Computer experiment was performed to test efficiency of the proposed policy. When compared with the most efficient policy currently available, our policy showed a considerable cost savings especially for the problems having non-stationary demands.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 접착 및 계면
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• 제7권4호
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• pp.13-17
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• 2006

The elasto-plastic finite element method (FEM) was used to investigate the effect of off-center recessing location (8 mm length) on the stress distribution in the lap zone of adhesively bonded aluminium double lap joint. The results from simulation showed that the effect of off-cent recessing in bondline of double lap joint in the mid-bondline is not evidently to stress distribution in mid-bondline but the peak stresses both in mid-bondline and in the interface near the adherend side of the joint may increase markedly when an 8 mm length recessing was arranged symmetrical to the point of x =18 mm. When shifting an 8 mm length recess from near left end to the right end of the lap zone, all the highest peak stresses in the mid-bondline occurred under the condition of recess arranged symmetrical to the point of x = 6 mm.