• Ocean Systems Engineering
• /
• v.12 no.1
• /
• pp.1-22
• /
• 2022

The majority of tubular joints commonly found in offshore jacket structures are multi-planar. Investigating the effect of loaded out-of-plane braces on the values of the stress concentration factor (SCF) in offshore tubular joints has been the objective of numerous research works. However, due to the diversity of joint types and loading conditions, a number of quite important cases still exist that have not been studied thoroughly. Among them are internally ring-stiffened two-planar TT-joints subjected to axial loading. In the present research, data extracted from the stress analysis of 243 finite element (FE) models, verified against available numerical and experimental data, was used to study the effects of geometrical parameters on the chord-side SCFs in two-planar tubular TT-joints reinforced with internal ring stiffeners subjected to two types of axial loading. Parametric FE study was followed by a set of nonlinear regression analyses to develop six new SCF parametric equations for the fatigue analysis and design of axially-loaded two-planar TT-joints reinforced with internal ring stiffeners.

• Steel and Composite Structures
• /
• v.46 no.2
• /
• pp.211-220
• /
• 2023

Welded hollow spherical joints are commonly used joints in space grid structures. An internal stiffener is generally adopted to strengthen the joints when large hollow spheres are used. To further strengthen it, external stiffeners can be used at the same time. In this study, axial compression tests are conducted on four full-scale 550 mm spherical joints. The failure modes and strengths of the tested joints are investigated. It shows that the external stiffeners are able to increase the strength of the joint up to 25%. A numerical model for large spherical joints with stiffeners is established and verified against the experimental results. Parametric studies are executed considering six main design factors using the verified model. It is found that the strength of the spherical joint increases as the thickness, height and number of the external stiffeners increase, and the hollow sphere's diameter has a neglectable effect on the enhancement caused by the external stiffeners. Based on the experimental and numerical results, a practical formula for the compressive bearing capacity of large welded hollow spherical joints with both internal and external stiffeners is proposed. The proposed formula gives a conservative prediction on the compressive capacity of large welded hollow spherical joints with both internal and external stiffeners.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.19 no.4
• /
• pp.1023-1032
• /
• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.535-538
• /
• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.5
• /
• pp.1199-1206
• /
• 2015

This paper introduces an algorithm for computing similarity between two poses in the motion capture data with different scale of skeleton, different number of joints and different joint names. The proposed algorithm first performs the topological analysis on the skeleton hierarchy for classifying the joints into more meaningful groups. The global joints positions of each joint group then are aggregated into a point cloud. The number of joints and their positions are automatically adjusted in this process. Once we have two point clouds, the algorithm finds an optimal 2D transform matrix that transforms one point cloud to the other as closely as possible. Then, the similarity can be obtained by summing up all distance values between two points clouds after applying the 2D transform matrix. After some experiment, we found that the proposed algorithm is able to compute the similarity between two poses regardless of their scale, joint name and the number of joints.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.1 no.2
• /
• pp.151-156
• /
• 1997

An experimental study was performed on the pull-out behavior of 90-deg standard hooks from exterior beam-column connections. The effects of the number of hooked bars of joint area were investigated. Under the pull-out action of hooked bars, the damage and cracking of joint area tends to be more extensive as the number of hooks pulling out from a joint increases. The pull-out strength and post-peak ductility of hooked bar are adversely influenced by the increase in number of hooks pulling out from an exterior joint. Current hooked bar anchorage design guidelines may be improved by considering the effect of the number of hooked bars on anchorage conditions at exterior joints.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2002.05a
• /
• pp.279-284
• /
• 2002

Prestressed concrete(PSC) bridge structures with a number of continuous spans has been segmentally built in many countries. These methods include incremental launching method, movable scaffolding method, full staging method and balanced cantilever method. In these segmentally constructed prestressed concrete bridges, many construction joints exist and these construction joints are weak points in PSC bridges. The prestress force can be introduced prestress force continuously through the construction joints of PSC bridge superstructure using tendon couplers. The main objective of this study is to evaluate the structural behavior and ultimate flexural strength of construction joints in PSC girder bridge members. To this end, a comprehensive experimental program has been set up and a series of full-scale tests have been performed. Ultimate flexural strength of construction joint in PSC members with tendon couplers is decreased by approximately 10% for non-coupled members.

• Journal of Korean Public Health Nursing
• /
• v.15 no.1
• /
• pp.111-124
• /
• 2001

This study was conducted to identify the characteristics of pain, self-esteem, perceived health status, and self-efficacy and its influencing factors in patients with chronic arthritis. The data were obtained from 104 patients with chronic arthritis registered in one university hospital in Seoul, from May to August, 2000. For analysing the data, SAS program was used for t-test, ANOVA, Scheffe test, Pearson correlation, and stepwise multiple regression. The results were as follows: 1. The variables which showed significant difference with pain were sex, number of painful joints. 2. The variables which showed significant difference with perceived health status were age, diagnosis. number of painful joints. 3. The variables which showed significant difference with self-efficacy were duration of disease, number of painful joints. quality of sleeping. 4. Moderate negative correlation were observed between pain and perceived health status, self-efficacy, and low positive correlation was observed between self-esteem and perceived health status. Also self-esteem revealed moderate positive correlation with self-efficacy, and moderate positive correlation was observed perceived health status and self-efficacy. 5. The predictors to explain self-efficacy were number of painful joints, self-esteem, duration of disease, duration of exercise and pain. These predictors explained $36.05\%$ of variance of self-efficacy. In conclusion, the nursing intervention to improve self-efficacy for chronic arthritis patients focused not only physiological symptoms such as pain. but also psychosocial factors such as self-esteem.

• Geomechanics and Engineering
• /
• v.36 no.1
• /
• pp.71-81
• /
• 2024

This study analyzes the pull-out behavior of tunnel-type anchorage under various joint conditions, including joint direction, spacing, and position, using a finite element analysis. The validity of the numerical model was evaluated by comparing the results with a small-scaled model test, and the results of the numerical analysis and the small-scaled model test agree very well. The parametric study evaluated the quantitative effects of each influencing factor, such as joint direction, spacing, and position, on the behavior of tunnel-type anchorage using pull-out resistance-displacement curves. The study found that joint direction had a significant effect on the behavior of tunnel-type anchorage, and the pull-out resistance decreased as the displacement level increased from 0.002L to 0.006L (L: anchorage length). It was confirmed that the reduction in pull-out resistance increased as the number of joints in contact with the anchorage body increased and the spacing between the joints decreased. The pull-out behavior of tunnel-type anchorage was thus shown to be significantly influenced by the position and spacing of the rock joints. In addition, it is found that the number of joints through which the anchorage passes, the wider the area where the plastic point occurs, which leads to a decrease in the resistance of the anchorage.

• Smart Structures and Systems
• /
• v.30 no.1
• /
• pp.49-62
• /
• 2022

Experimental and discrete element methods were used to investigate the effects of triple joints lengths and triple joint angle on the failure behavior of rock mass under uniaxial compressive test. Concrete samples with dimension of 20 cm × 20 cm × 5 cm were prepared. Within the specimen, three imbedded joint were provided. The joint lengths were 2 cm, 4cm and 6 cm. In constant joint lengths, the angle between middle joint and other joints were 30°, 60°, 90°, 120° and 150°. Totally 15 different models were tested under compression test. The axial load rate on the model was 0.05 mm/min. Concurrent with experimental tests, the models containing triple joints, length and joint angle are similar to the experiments, were numerical by Particle flow code in two dimensions (PFC2D). Loading rate in numerical modelling was 0.05 mm/min. Tensile strength of material was 1 MPa. The results show that the failure behaviors of rock samples containing triple joints were governed by both of the angle and the length of the triple joints. The uniaxial compressive strengths (UCS) of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. Furthermore, it was shown that the compressive behavior of discontinuities is related to the number of the induced tensile cracks which are increased by decreasing the joint length. Along with the damage failure of the samples, the acoustic emission (AE) activities are excited. There were only a few AE hits in the initial stage of loading, then AE hits rapidly grow before the applied stress reached its peak. In addition, every stress drop was accompanied by a large number of AE hits. Finally, the failure pattern and failure strength are similar in both methods i.e., the experimental testing and the numerical simulation methods.