• Journal of Korean Society of Steel Construction
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• v.28 no.6
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• pp.467-476
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• 2016

For the connections between modular units in modular buildings, the bolted joints with connector plates are used commonly. The strength of structure is determined by the weakest part of structure and the connections may be weaker than the members being joined. Therefore, to check the safety of modular building, the structural performance of connections between modular units as well as that of beam-to-column connections should be evaluated. In this study, the behavior of module to module connection with straight and cross shaped connector plates is investigated by lateral cyclic tests according to KBC2009 0722.2.4 which shall be conducted by controlling the story drift angle in the width and the longitudinal direction respectively. All of test results generally show the stable ductile behavior up to 0.04rad drift levels and the tests in longitudinal direction show a superior energy dissipation per cycle in each of the load steps. However, the straight shaped connector plates have the degradation of stiffness with cyclic loading and the larger drift angle of column than the cross shaped connector plates.

• 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 the Earthquake Engineering Society of Korea
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• v.25 no.4
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• pp.153-160
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• 2021

The connection of the steel structure serves to transmit external forces to the main components. The same is true for the behavior of modular systems composed mainly of steel or composite members. In this study, the joint performance of the composite and steel modules proposed was evaluated. The analytical models of the two joint types were constructed and were subjected to cyclic loading to assess the safety and the energy dissipation capacity of the joint types. The analysis results of the joints showed that the joints of the modular systems remain stable when the joint rotation reached the seismic performance limit state of the 0.02 rad required for steel intermediate moment frame. It was also observed that the joint of the composite modular system showed higher energy dissipation capacity compared with the steel modular system.

• Journal of the Korea institute for structural maintenance and inspection
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• v.21 no.2
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• pp.69-77
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• 2017

By producing pre-engineered modular system in the factory, It is enable to expedite construction and can be distinguished from two types by the method resisting load. One is the open-sided modular system composed of beams and columns. The other is enclosed modular system composed of panels and studs. Of the modular systems, the open-sided modular system buildings the connection between modules are difficult due to closed member sections, and the overall strength is reduced as a result of local buckling. In this study, in order to solve these problems, a modular system with folded steel members filled with concrete are proposed. The capacity spectrum method presented in ATC 40 is used for seismic performance assessment of the proposed model structure and the structure with conventional steel members. The analysis results show that at the performance point of each model the number and rotation of plastic hinge formed in the proposed modular system are smaller than those in the conventional system. Based on this observation it is concluded that the proposed system with composite sections has superior seismic capacity compared with conventional system.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.6
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• pp.663-672
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• 2014

Recently, modular structural systems have been applicable to building construction since they can significantly reduce building construction time. They consists of several unit modular frames of which each beam-column joint employs an access hole for connecting unit modular frames. Their structural design is usually carried out under the assumption that their load-carrying mechanism is similar to that of a traditional steel moment-resisting system. In order to obtain the validation of this assumption, the cyclic characteristics of beam-column joints in a unit modular frame should be investigate. This study carried out finite element analyses(FEM) of unit modular frames to investigate the cyclic behavior of beam-column joints with the structural influence of access holes. Analysis results show that the unit modular frames present stable cyclic response with large deformation capacities and their joints are classified into partial moment connections. Also, this study develops a simple spring model for earthquake nonlinear analyses and suggests the Ramberg-Osgood hysteretic rule to capture the cyclic response of unit modular frames.

• Journal of the Korea institute for structural maintenance and inspection
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• v.23 no.1
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• pp.36-44
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• 2019

The purpose of this study is to evaluate the structural performance of press-formed type asymmetric column to beam connections of steel-PC composite module frames. Most of the column sections of the joints making up the modular frame use a closed square steel section. The column-beam connection using the closed column section has difficulty in reducing the workability and securing the fire resistance. In order to overcome this disadvantage, concrete is filled in the asymmetrical open type cross section of the steel plate by press forming. A total of four specimens were fabricated to investigate the structural performance of press formed type asymmetric column to beam connections. The experimental results show that the structural performance and behavior of the asymmetric columns are different depending on whether the asymmetric column cross section is composited or the column width thickness ratio. The structural performance of the press formed type asymmetric column to beam connection was evaluated by comparing the experimental results with the theoretical formulas.

• Steel and Composite Structures
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• v.30 no.2
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• pp.185-199
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• 2019

Modular construction is an emerging technology to accommodate the increasing restrictions in terms of construction period, energy efficiency and environmental impacts, since each structural module is prefabricated offsite beforehand and assembled onsite using industrialized techniques. However, some innate structural drawbacks of this innovative method are also distinct, such as connection tying inaccessibility, column instability and system robustness. This study aims to explore the theoretical and numerical stability analysis of a tenon-connected square hollow section (SHS) steel column to address the tying and stability issue in modular construction. Due to the excellent performance of composite structures in fire resistance and buckling prevention, concrete-filled steel tube (CFST) columns are also taken into account in the analysis to evaluate the feasibility of adopting composite sections in modular buildings. Characteristic equations with three variables, i.e., the length ratio, the bending stiffness ratio and the rotational stiffness ratio, are generated from the fourth-order governing differential equations. The rotational stiffness ratio is recognized as the most significant factor, with interval analysis conducted for its mechanical significance and domain. Numerical analysis using ABAQUS is conducted for validation of characteristic equations. Recommendations and instructions in predicting the buckling performance of both SHS and CFST columns are then proposed.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.674-682
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• 2009

The modular robot is one which was developed to get over limit of the space movement for the mobile robot. The chain type robot in particular is connected by series each other and this form expression method is simple and easy to really make a docking method efficiently. However, the related studies were focused on the movement that used to be combination, and the movement of a cell independent mainly does not consist and have a problem to dock only in a direction, not to be connected with all directions. Therefore, we suggested a modular structure for quick, independent movement to solve such a problem and had own autonomy. In addition, we are intended to get some effectiveness for connection mechanism using one locking motor. In this paper, we dealt with the design for the mechanical and electrical points and docking algorithm including communication method. All of the structure is verified with real action experiment through the shape expressions of various application platform.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.2
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• pp.345-350
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• 2019

This study deals with the design of a modular converter that can convert the output voltage according to the size of the load. The efficiency of the converter depends on the size of the load and is generally less efficient for lower loads. Therefore, it is more efficient to construct a small capacity modular converter than to manufacture a large capacity converter and it determines the capacity of the system through the parallel connection of the converter module according to the load size. In this paper, we will introduce a modular DC / DC converter designed to control the number of modules according to the load. A programmable resistor is placed at the output of the module for parallel connection of the module, and the voltage is regulated by adjusting the variable resistor. A system controlled in this way was found to exhibit an efficiency improvement of about 32%.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.1
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• pp.73-85
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• 2014

The CFT (Concrete Filled steel Tubes) column-footing connection is cast-in-place embedded type which provides simple construction procedure, low cost, and superior structural performance. In this study, CFT column-footing connection of modular pier is proposed and structural performance is evaluated by experimental tests. To evaluate structural performance of the CFT column-footing connection, a series of experimental tests were performed for the 4 specimens with different embedded depth. As a result of the quasi-static test, the specimen with 0.6D (0.6 times the outside diameter of steel tube) embedded depth showed relatively low ductility than other specimens with larger embedded depth due to cone failure of base concrete occurred during the lower loading step. On the contrary, cone failure of the base concrete was not observed in the specimens with larger embedded depth than 0.9D, but typical flexural failure in lower part of CFT column was observed. With the analyses of force-displacement curve, displacement ductility, and energy dissipation capacity, it is concluded that the rational range of embedded depth of the CFT column-footing connection is from 0.9D to 1.2D in view of good seismic performance.