• 로봇학회논문지
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• 제17권4호
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• Structural Engineering and Mechanics
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• 제75권5호
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• pp.529-540
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• 2020

The mechanical properties of timber construction have drawn more attention after the 2013 Lushan earthquake. A strong desire to preserve this ancient architectural styles has sprung up in recent years, especially for residential buildings of the mountainous areas. In the column-and-tie timber construction, continuous-tenon joints are the most common structural form to connect the chuanfang (similar to the beam in conventional structures) and the column. To study the cyclic performance of the continuous-tenon joints in column-and-tie timber construction, the reversed lateral cyclic loading tests were carried out on three 3/4 scale specimens with different section heights of the chuanfang. The mechanical behavior was assessed by studying the ultimate bending capacity, deformation ductility and energy dissipation capacity. Test results showed that the slippage of chuanfang occurred when the specimens entered the plastic stage, and the slippage degree increased with the increase of the section height of chuanfang. An obvious plastic deformation of the chuanfang occurred due to the mutual squeezing between the column and chuanfang. A significant pinching was observed on the bending moment-rotation curves, and it was more pronounced as the section height of chuanfang increased. The further numerical investigations showed that the flexural capacity and initial stiffness of the continuous-tenon joints increased with the increase of friction coefficient between the chuanfang and the column, and a more obvious increasing of bending moment occurred after the material yielding. The compressive strength perpendicular to grain of the material played a more significant role in the ultimate bending capacity of continuous-tenon joints than the compressive strength parallel to grain.

• 한국지진공학회논문집
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• 제27권5호
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• pp.203-211
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• 2023

For fast-built and safe precast concrete (PC) construction, the dry mechanical splicing method is a critical technique that enables a self-sustaining system (SSS) during construction with no temporary support and minimizes onsite jobs. However, due to limited experimental evidence, traditional wet splicing methods are still dominantly adopted in the domestic precast industry. For PC beam-column connections, the current design code requires achieving emulative connection performances and corresponding structural integrity to be comparable with typical reinforced concrete (RC) systems with monolithic connections. To this end, this study conducted the standard material tests on mechanical splices to check their satisfactory performance as the Type 2 mechanical splice specified in the ACI 318 code. Two PC beam-column connection specimens with dry mechanical splices and an RC control specimen as the special moment frame were subsequently fabricated and tested under lateral reversed cyclic loadings. Test results showed that the seismic performances of all the PC specimens were fully comparable to the RC specimen in terms of strength, stiffness, energy dissipation, drift capacity, and failure mode, and their hysteresis responses showed a mitigated pinching effect compared to the control RC specimen. The seismic performances of the PC and RC specimens were evaluated quantitatively based on the ACI 374 report, and it appeared that all the test specimens fully satisfied the seismic performance criteria as a code-compliant special moment frame system.

• Wind and Structures
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• 제31권2호
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• pp.103-142
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• 2020

One of the next frontiers in structural wind engineering is the design of tall buildings using performance-based approaches. Currently, tall buildings are being designed using provisions in the building codes and standards to meet an acceptable level of public safety and serviceability. However, recent studies in wind and earthquake engineering have highlighted the conceptual and practical limitations of the code-oriented design methods. Performance-based wind design (PBWD) is the logical extension of the current wind design approaches to overcome these limitations. Towards the development of PBWD, in this paper, we systematically review the advances made in this field, highlight the research gaps, and provide a basis for future research. Initially, the anatomy of the Wind Loading Chain is presented, in which emphasis was given to the early works of Alan G. Davenport. Next, the current state of practice to design tall buildings for wind load is presented, and its limitations are highlighted. Following this, we critically review the state of development of PBWD. Our review on PBWD covers the existing design frameworks and studies conducted on the nonlinear response of structures under wind loads. Thereafter, to provide a basis for future research, the nonlinear response of simple yielding systems under long-duration turbulent wind loads is studied in two phases. The first phase investigates the issue of damage accumulation in conventional structural systems characterized by elastic-plastic, bilinear, pinching, degrading, and deteriorating hysteretic models. The second phase introduces methods to develop new performance objectives for PBWD based on joint peak and residual deformation demands. In this context, the utility of multi-variate demand modeling using copulas and kernel density estimation techniques is presented. This paper also presents joined fragility curves based on the results of incremental dynamic analysis. Subsequently, the efficiency of tuned mass dampers and self-centering systems in controlling the accumulation of damage in wind-excited structural systems are investigated. The role and the need for explicit modeling of uncertainties in PBWD are also discussed with a case study example. Lastly, two unified PBWD frameworks are proposed by adapting and revisiting the Wind Loading Chain. This paper concludes with a summary and a proposal for future research.

• 한국구조물진단유지관리공학회 논문집
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• 제26권6호
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• pp.64-72
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• 2022

본 연구에서는 WFD(Wall Friction Damper)를 보강한 철근콘크리트 골조의 내진성능을 확인하기 위해 2층 철근콘크리트 골조 의 보강방법(무보강, 내부 H- 형철골과 WFD보강)을 주요 변수로 하였다. WFD 내진 보강 공법은 강도 향상과 에너지 소산 공법을 혼합한 것이다. WFD의 충분한 에너지 소산 이전에 보강재와 기존 구조물의 접합부에서 사전 파괴를 방지하기 위해 내부 H형 철골과 보 측면을 관통하는 케미컬 앵커를 사용하여 WFD를 설치하였다. 시험결과 OMF-N 시험체는 최대강도 발현 후 R/C 기둥의 전단력에 의한 취성파괴 양상을 보였다. OMF-ALL(H) 실험체는 핀칭 효과의 감소와 RC 기둥의 파손이 발생함을 보였다. 또한 OMF-ALL(H)의 최대 강도, 누적 에너지 소산 및 연성은 OMF-N의 경우 3.01배, 7.2배 및 1.72배 증가하였다. 그 결과 철근콘크리트 구조물에 시공한 WFD 내진 보강공법이 내진성능을 향상시키고 보강효과가 유효한 것으로 나타났다.

• 한국구조물진단유지관리공학회 논문집
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• 제27권6호
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• pp.86-93
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• 2023

반복하중을 받는 철근콘크리트 부재는 이력거동이 진행됨에 따라 강성과 강도의 저하 그리고 핀칭현상 등으로 인하여 에너지소산 능력이 감소된다. 그러나 지침서 「철근콘크리트 건축구조물의 성능기반 내진설계를 위한 비선형해석모델, 2021」에서는 각 부재별로 모든 이력단계별 단일한 에너지소산계수를 산정하도록 하고 있어 이력단계에 따른 에너지소산능력의 감소를 고려할 수 없을 것으로 판단된다. 따라서 본 연구에서는 반복하중을 받는 일반보에 대한 기존 실험결과와 비선형시간이력해석 결과를 비교하여 이력단계에 따른 에너지소산계수를 고찰하였다. 에너지소산계수는 비선형시간이력해석 결과로 구한 이상화된 탄소성거동 에너지 소산량에 대한 실제 실험체의 에너지소산량의 비로써 산출하였다. 기존 실험결과는 1회 Cycle을 각 이력단계별로 산정하여 에너지소산계수를 도출하였으며, 지침서 내 비선형모델링 과정을 토대로 에너지소산계수를 도출하였다. 기존 실험연구에선 각 이력단계(Y-L-R)를 설정하여 에너지소산계수를 구하였으며, 에너지소산계수는 Y-L구간 0.36, L-R구간 0.28로 나타났고, 지침서 에너지소산계수는 0.31로 나타났다. 이는 지침서의 에너지소산계수 산정식이 철근콘크리트 부재의 에너지소산능력의 감소를 나타내지 못하는 것으로 나타났다.