• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• Journal of Korean Society of Steel Construction
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• v.13 no.1
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• pp.81-89
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• 2001

Experiments and the parametric based on finite element model were conducted to investigate the behavior and strength of a gussettube connection concerned with eccentricity and selenderness ratio. Because of limitations in loading capacity the specimens were fabricated with 1/3 scale of full size. Of primary interest here are the ultimate strength of connections having eccentricity caused by lateral loads. As a result the effect of eccentricity on the buckling strength was examined and the validity of the finite element model adopted in this study was verified through comparing with test results.

• Journal of Energy Engineering
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• v.24 no.4
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• pp.159-165
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• 2015

The article presents a parametric study on geometrical design optimization for coupling the joint between a large exhaust air chimney and electromagnetic pulse (EMP) shield for gas turbine electricity generator. We conducted computational fluid dynamics (CFD) simulations on hydraulic diameters of waveguide below cutoff(WBC) ranges 800mm~1025mm, the connection distance ranges 150~450mm, and exhaust gas flow velocities at 15, 20, and 25m/s. The results show that the diameter of main chimney, connection distance, and exhaust gas velocity had impacts on flow stream at the EMP shield. To provide a fully developed stream line at three different flow velocity cases, the WBC diameter and distance of connection should be larger than 1050mm and longer than 300mm, respectively.

• Earthquakes and Structures
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• v.25 no.5
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• pp.307-323
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• 2023

This study compares two prominent design provisions, National Design Specification (NDS) and Eurocode 5, on load-carrying capacity calculations and failure analysis for mortise-tenon joints. Design procedures of double-shear connection from both provisions were used to calculate load-carrying capacity of mortise-tenon joints with eight different bolt sizes. From this calculation, the result was validated using finite element analysis and failure criteria models. Although both provisions share similar failure modes, their distinct calculation methods significantly influence the design load-carrying capacity values. Notably, Eurocode 5 predicts a 6% higher design load-carrying capacity for mortise-tenon joints with varying bolt diameters under horizontal loads and 14% higher under vertical loads compared to NDS. However, the results from failure criteria models indicate that NDS closely aligns with the actual load-carrying capacity. This indicates that Eurocode 5 presents a less conservative design and potentially requires fewer fasteners in the final timber connection design. This evaluation initiates the potential for the development of a wider range of timber connections, including mortise-tenon joints with wooden pegs.

• Steel and Composite Structures
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• v.36 no.4
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• pp.447-462
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• 2020

The paper aims to investigate the mechanical mechanism and seismic effect of stiffeners in blind bolt endplate connection to CFST column. A precise 3D finite element model with considering the cyclic properties of concrete and steel materials was established, and the efficiency was validated through monotonic and cyclic test data. The deforming pattern and the seismic performance of the unstiffened and stiffened blind bolt endplate connections were investigated. Then a parametric analysis was conducted to analyze the contribution of stiffeners and the joint working behaviors with endplate under cyclic load. The joint stiffness classifications were compared and a supplement stiffness classification method was proposed, and the energy dissipation ability of different class connections were compared and discussed. Results indicated that the main deformation pattern of unstiffened blind bolt endplate connections was the local bending of end plate. The vertical stiffeners can effectively alleviate the local bending deformation of end plate. And influence of stiffeners in thin endplate and thick endplate was different. Based on the stiffness of external diaphragm welded connection, a more detailed rigidity classification was proposed which included the pin, semi-rigid, quasi-rigid and rigid connection. Beam was the main energy dissipation source for rigid connection. For the semi-rigid and quasi-rigid connection, the extended endplate, stiffeners and steel beam would all participate in the energy dissipation.

• Journal of Korean Society of Steel Construction
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• v.23 no.3
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• pp.377-384
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• 2011

Recently, for the purpose of reducing work terms and improving performance for construction work, various methods in structure field were developed. This included the HRC system which is applicable to a typical structure (e.g., parking and office building). The HRC system introduced the Gerber Joint to raise structural efficiency and used connection plate to bolt HRC composite beam to H beam in the construction field. In this research, the experimental tests for six specimens, which were in the same field conditions, were conducted with several parameters such as the length and height of the connection plate and the number of stub bolts. The test result was compared with those made by current design codes for the deflection and strains of the main bar. Within the given load, the integration of concrete in beam and connection plate, welded with stud bolts, was verified.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.11a
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• pp.169-170
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• 2011

In the connection of green frame, the bottom rebar of the precast concrete beam needs joint or anchorage to ensure structural integrity. However, given the characteristics of composite precast concrete joint, enough length over which rebar can be anchored or lap-spliced is not secured. In addition, due to issues with constructability, cost or quality, it is difficult to apply welding or mechanical connection techniques. Therefore, this study analyze the requirement for a bolt-type rebar coupler as a solution for the coupling issue between the lower rebars of green frame beam. The requirement for bolt-type rebar coupler proposed herein will provide basic data for development studies of the rebar coupler.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.10a
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• pp.354-361
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• 2002

This paper propose section properties factor to generate stress history for fatigue analysis and safety inspection of steel bridge. A methodology is described for the computation of numerical stress histories in the steel truss bridge, caused by the vehicles using section properties factor. The global 3-D beam model of bridge is combined with the local shell model of selected details. Joint geometry is introduced by the local shell model. The global beam model takes the effects of joint rigidity and interaction of structural elements into account. Connection nodes in the global beam model correspond to the end cross-section centroids of the local shell model. Their displacements are interpreted as imposed deformations on the local shell model. The load cases fur the global model simulate the vertical unit force along the stringers. The load cases fer the local model are imposed unit deformations. Combining these, and applying vehicle loads, numerical stress histories are obtained. The method is illustrated by test load results of an existing bridge.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.10a
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• pp.403-410
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• 1999

General1y, H-section is used for columns and beams in the middle and low steel building, But it has a strong and weak axis. Thus if H-section is used for columns, the structure needs reinforcement on the weak axis. Therefore recently, square holler section(S.H.S) is used for columns because it is able to coiler the vulnerability of H-section. Structural analysis is usually executed under the assumption that connections are either ideally pinned joint or fully rigid joint. Actually all connections are semi-rigid which possess a rotational stiffness. Therefore it can be designed economically as using the property of connections which has a rotational stiffness. This paper presents a prediction model curve which is fitted Kishi-Chen power Model about the behavior of connection between H-beam and S.H.S column. Non-linear analysis program was considered the non-linearity of semi-rigid connection and the geometrical non-linearity under the effect of axial force. It was programed by FORTRAN90 and Visual Basic.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1997.10a
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• pp.111-118
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• 1997

Generally, H-section is used for columns and beams in the middle and low building steel structure, But it has a axis and a weak axis. Thus if H-section is used for columns, the structure needs reinforcement on the weak axis. Therefore recently, square hollow section(S.H.S) is used for columns because it is able to cover the vulnerability of H-section. Structural analysis is usually executed under the assumption that connections are either ideally pinned joint or fully joint. Actually all connections are semi-rigid which possess a rotational stiffness. Therefore it can be designed economically as using the property of connections which has a rotational stiffness. This paper presents a prediction model curve which is fitted with Kishi-Chen Power Model about the behavior of connection between H-beam and S.H.S column in the previous experimental paper. It also suggests the new analysis algorithm considering the non-linear of semi-rigid connection and the geometrical non-linear under the effect of axial force.