• Steel and Composite Structures
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• v.39 no.3
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• pp.337-352
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• 2021

The study presented experimental and numerical investigation on the seismic performance of steel reinforced concrete (SRC) L-shaped column- reinforced concrete (RC) beam joints. Various parameters described as steel configuration form, axial compressive ratio, loading angle, and the existence of slab were examined through 4 planar joints and 7 spatial joints. The characteristics of the load-displacement response included the bearing capacity, ductility, story drift ratio, energy-dissipating capacity, and stiffness degradation were analyzed. The results showed that shear failure and flexural failure in the beam tip were observed for planar joints and spatial joint, respectively. And RC joint with slab failed with the plastic hinge in the slab and bottom of the beam. The results indicated that hysteretic curves of spatial joints with solid-web steel were plumper than those with hollow-web specimens. The capacity of planar joints was higher than that of space joints, while the opposite was true for energy-dissipation capacity and ductility. The high compression ratio contributed to the increase in capacity and initial stiffness of the joint. The elastic and elastic-plastic story deformation capacity of L-shaped column frame joints satisfied the code requirement. A design formula of joint shear resistance based on the superposition theory and equilibrium plasticity truss model was proposed for engineering application.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1989.10a
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• pp.15-18
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• 1989

The planar effects on the concrete pavements Is mainly due to the concrete shrinkage, subgrade friction, and thermal expansion or contraction. A complete understanding of analytical behavior of concrete pavement requires the development of computer model, stiffness matrix and equivalent nodal load matrices due to the effects mentioned above. A computer program, INPLANE II, has been written to evaluate the planar effects on concrete pavements. The planar effects determine to what degree the joint open and also help In determining factors which affect the joint stiffnesses and structural behavior of concrete Pavements.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.531-534
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• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

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

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• International journal of steel structures
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• v.18 no.5
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• pp.1525-1540
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• 2018

A test rig with multi-functional purposes was specifically designed and manufactured to study the behavior of multi-planar welded tubular joints subjected to multi-planar concurrent axial loading. An experimental investigation was conducted on full-scale welded tubular joints with each consisting of one chord and eight braces under monotonic loading conditions. Two pairs or four representative specimens (two specimens for each joint type) were tested, in which each pair was reinforced with two kinds of different internal stiffeners at the intersections between the chords using welded rectangular hollow steel sections (RHSSs) and the braces using rolled circular hollow steel sections (CHSSs) and welded RHSSs. The effects of different internal stiffeners at the chord-brace intersection on the load capacity of joints under concurrent multi-planar axial compression/tension are discussed. The test results of joint strengths, failure modes, and load-stress curves are presented. Finite element analyses were performed to verify the experimental results. The study results show that the two different joint types with the internal stiffeners at the chord-brace intersection under axial compression/tension significantly increase the corresponding ultimate strength to far exceed the usual design strength. The load carrying capacity of welded tubular joints decreases with a higher degree of the manufacturing imperfection in individual braces at the tubular joints. Furthermore, the interaction effect of the concurrent axial loading applied at the welded tubular joint on member stress is apparent.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.243-248
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• 2002

In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.

• Tunnel and Underground Space
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• v.29 no.2
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• pp.89-107
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• 2019

Rock joints have an extremely important role in analyzing the mechanical stability and hydraulic characteristics of rock mass structures. Most rock joint parameters are generally indicated as a distribution by statistical techniques. In this research, calculation technique of Joint Center Volume (JCV) is analyzed, which is required for estimating the size distribution having the largest uncertainty among the joint parameters, then a new technique is proposed which is applicable regardless of the shape of survey window. The existing theoretical JCV calculation technique can be applied only to the plane window, and the complete enumeration techniques show the limitations in joint trace type and analysis time. This research aims to overcome the limitations in survey window shape and joint trace type through calculating JCV by using Monte Carlo simulation. The applicability of proposed technique is validated through the estimation results at non-planar survey windows such as curved surface and tunnel surface.

• Computers and Concrete
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• v.17 no.6
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• pp.723-737
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• 2016

In this paper an approach was described for determination of direction of sliding block in rock slopes containing planar non-persistent open joints. For this study, several gypsum blocks containing planar non-persistent open joints with dimensions of $15{\times}15{\times}15cm$ were build. The rock bridges occupy 45, 90 and $135cm^2$ of total shear surface ($225cm^2$), and their configuration in shear plane were different. From each model, two similar blocks were prepared and were subjected to shearing under normal stresses of 3.33 and $7.77kg/cm^{-2}$. Based on the change in the configuration of rock-bridges, a factor called the Effective Joint Coefficient (EJC) was formulated, that is the ratio of the effective joint surface that is in front of the rock-bridge and the total shear surface. In general, the failure pattern is influenced by the EJC while shear strength is closely related to the failure pattern. It is observed that the propagation of wing tensile cracks or shear cracks depends on the EJC and the coalescence of wing cracks or shear cracks dominates the eventual failure pattern and determines the peak shear load of the rock specimens. So the EJC is a key factor to determine the sliding direction in rock slopes containing planar non-persistent open joints.

• Earthquakes and Structures
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• v.8 no.3
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• pp.555-572
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• 2015

This paper presents an experimental study of three two-dimensional (2D/planar) steel reinforced concrete (SRC) T-shaped column-RC beam hybrid joints and six 3D SRC T-shaped column-steel beam hybrid joints under low cyclic reversed loads. Considering different categories of steel configuration types in column cross section and horizontal loading angles for the specimens were selected, and a reliable structural testing system for the spatial loading was employed in the tests. The load-displacement curves, carrying capacity, energy dissipation capacity, ductility and deformation characteristics of the test subassemblies were analyzed. Especially, the seismic performance discrepancies between planar hybrid joints and 3D hybrid joints were intensively compared. The failure modes for planar loading and spatial loading observed in the tests showed that the shear-diagonal compressive failure was the dominating failure mode for all the specimens. In addition, the 3D hybrid joints illustrated plumper hysteretic loops for the columns configured with solid-web steel, but a little more pinched hysteretic loops for the columns configured with T-shaped steel or channel-shaped steel, better energy dissipation capacity & ductility, and larger interlayer deformation capacity than those of the planar hybrid joints. Furthermore, it was revealed that the hysteretic loops for the specimens under $45^{\circ}$ loading angle are generally plumper than those for the specimens under $30^{\circ}$ loading angle. Finally, the effects of steel configuration type and loading angle on the seismic damage for the specimens were analyzed by means of the Park-Ang model.