• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.165-172
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• 1995

Many algorithms to enhance a speed performance of a robot have been studied, but it's rare to consider disign aspect of a robot arm for time optimal problem. In this paper, section demensions of a robot arm and a velocity profile of an end-effector were optimally designed to minimize the cycle time. Capacity of actuators, deflections of end-effector, and a fundamental natural frequency of the robot arm were constrained in optimal design. For a given path with a trapezoidal velocity profile, torques of each joint were calculated using the inverse kinematics and dynamics. For the SCARA type robot which is mainly used for assembly tasks, the time optimal design of each robot arm id presented with the above constraints.

• Journal of the Korea Concrete Institute
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• v.21 no.2
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• pp.169-178
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• 2009

An equation for calculating confining reinforcement amount of RC bridge columns, specified in the current bridge design codes, has been made to provide additional load-carrying strength for concentrically loaded columns. The additional load-carrying strength will be equal to or slightly greater than the resistant strength of a column against axial load, which is lost because the cover concrete spalls off. The equation considers concrete compressive strength, yield strength of transverse reinforcement, and the section area ratio as major variables. Among those variables, the section area ratio between the gross section and the core section, varying by cover thickness, is a variable which considers the strength in the compression-controlled region. Therefore, the cross section ratio does not have a large effect in the aspect of ductile behavior of the tension-controlled region, which is governed by bending moment rather than axial force. However, the equation of the design codes for calculating confining reinforcement amount does not directly consider ductile behavior, which is an important factor for the seismic behavior of bridge columns. Consequently, if the size of section is relatively small or if the section area ratio becomes excessively large due to the cover thickness increased for durability, too large an amount of confining reinforcement will be required possibly deteriorating the constructability and economy. Against this backdrop, in this study, comparison and analysis were performed to understand how the cover thickness influences the equation for calculating the amount of confining reinforcement. An equation for calculating the amount of confining reinforcement was also modified for reasonable seismic design and the safety. In addition, appropriateness of the modified equation was examined based on the results of various test results performed at home and abroad.

• Journal of the Korea Concrete Institute
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• v.14 no.4
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• pp.521-529
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• 2002

A restraint coefficient for creep and dry shrinkage deformation of concrete in a composite section was derived to calculate the residual stress, and an equation for the loss rate of the pre-compression force was proposed. The derived restraint coefficient was computed by using the transformed section properties for the age-adjusted effective modulus of elasticity. The long-term behavior of complicate composite sections could be analyzed easily with the restraint coefficient. The articles of the current design code was examined for PSC and steel composite sections. The dry shrinkage strains of $150 ~ 200$\times$10^{-6}$ for the computations of the statically indeterminate force and the expansion joint could be under-estimated for less restrained sections such as the reinforced concrete. The dry shrinkage strain of $180$\times$10^{-6}$ for the computation of residual stress in the steel composite section was unreasonably less value. The loss rate of 16.3% of the design code for the PSC composite section in this study was conservative for the long-term deformation of the ACI 205 but could not be used safely for that of the Eurocode 2. For pre-compressed concrete slab in the steel composite section, the loss rate of prestressed force with low strength reinforcement was much larger than that with high strength tendon. The loss rate of concrete pre-compression increased, while that of pre-tension decreased due to the restraint of the steel girder.

• Journal of the Korea Concrete Institute
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• v.23 no.3
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• pp.377-384
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• 2011

Although concrete is considered as fire proof materials, high strength concrete shows severe material and structural damages when exposed to fire. To understand such damages in high strength concrete structures, the effects of various design parameters and fire condition on the thermal behaviors of high strength concrete structures are investigated in this study. In order to achieve this goal, fire tests are performed on high strength concrete columns with different fire conditions and design parameters including cross sectional area, cover thickness, and reinforcement alignment. To investigate thermal behaviors, temperature distributions and amount of spalling are measured. In overall, the columns show rapidly increasing inner temperatures between 30~60 mins of the fire tests due to spalling. In detail, the higher temperature distributions are observed from the columns with the larger cross section and less cover thickness. Moreover, among the columns with same reinforcing ratio, larger number of reinforcements with the smaller diameter causes the higher temperature distribution. The findings from the experimental study allow not only understanding of thermal behaviors of high strength concrete columns under fire, but also guidance in revising fire safety design.

• Journal of Korean Association for Spatial Structures
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• v.5 no.4 s.18
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• pp.61-70
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• 2005

In paper the discrete optimum design program was developed using the continuous and discrete optimum algorithms based on the SUMT and genetic algorithms. In this paper, the objective function is the weight of structures and the constraints are limits state design limits method. The design variables are diameter and thick of steel pipe. Design examples are given to show the applicability of the optimum design using the continuous and discrete optimum algorithms based on the SUMT and genetic algorithms of this study.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.716-716
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• 2012

최근 항만구조물을 설계함에 있어 대수심 및 고파랑 지역에 설치되는 외곽시설의 상당수는 직립식 케이슨 혼성제 단면을 채택하고 있다. 이는 상대적으로 수심이 깊고, 설계파와 같은 외력 조건이 크기 때문에 경사제에 비하여 경제성 및 시공성이 유리하기 때문으로 판단된다. 그렇지만 아직까지 소규모 항만 및 어항시설에 있어 경사제를 채택하고 있다. 본 연구에서는 이와 같은 경사식 구조물을 설계함에 있어 월파에 의한 방파제 배후 경사면에 피복된 피복재의 안정성을 검토하며, 실험사례를 통하여 최적 설계안 및 설계방향을 제시하고자 한다. 경사식 구조물 배후 사면 피복재의 안정 중량에 대해서는 우리나라의 항만 구조물의 설계기준(항만 및 어항설계기준, 2005) 뿐만 아니라 국외의 설계기준(CEM, Coastal engineering manual, 2005 등)에서도 아직까지 설계법을 제시하고 있지 않고 있다. 본 연구에서 수행한 단면 수리모형실험에서는 1/50의 실험축척을 적용하여 대상 외곽 구조물에 대하여 수리특성과 안정성을 검토하였다. 특히 경사제 배후의 안정성 확보를 위하려 동일 구간에 대하여 설계파 조건 등을 중심으로 총 9개의 실험안을 설정하여 안정성을 검토하였다. 아래 그림은 이중 초기 설계안과 최종적으로 제안된 제시안에 대한 완성모형, 실험장면 및 결과이다. 일반적으로 접안시설과 외곽시설이 어느 정도 이격되어 있어 적정량의 월파를 허용할 수 있는 경우 상치콘크리트의 형상 및 마루높이을 변경하여 월파의 낙하 및 도달거리를 배후면의 안정성을 확보할 수 있을 정도로 유도함으로써 안정적인 구조물 설계가 가능할 것으로 판단된다.

• 어항어장
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• s.10
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• pp.20-30
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• 1990

• Journal of the Korea Concrete Institute
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• v.20 no.3
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• pp.393-404
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• 2008

The approaches in many design codes for the estimation of the deflection of flexural reinforced concrete (RC) members utilize the concept of the effective moment of inertia which considers the reduction of flexural rigidity of RC beams after cracking. However, the effective moment of inertia in design codes are primarily based on the ratio of maximum moment and cracking moment of beam subjected to loading without proper consideration on many other possible influencing factors such as span length, member end condition, sectional size, loading geometry, materials, sectional properties, amount of cracks and its distribution, and etc. In this study, therefore, an experimental investigation was conducted to provide fundamental test data on the effective moment of inertia of RC beams for the evaluation of flexural deflection, and to develop a modified method on the estimation of the effective moment of inertia based on test results. 14 specimens were fabricated with the primary test parameters of concrete strength, cover thickness, reinforcement ratio, and bar diameters, and the effective moments of inertia obtained from the test results were compared with those by design codes, existing equations, and the modified equation proposed in this study. The proposed method considered the effect of the length of cracking region, reinforcement ratio, and the effective concrete area per bar on the effective moment of inertia, which estimated the effective moment of inertia more close to the test results compared to other approaches.

• Journal of the Korea institute for structural maintenance and inspection
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• v.7 no.4
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• pp.149-158
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• 2003

It is customary that tendons and sectional dimensions are calibrated and tendon forces are applied at once at the initial stage to keep the subsequent stresses occuring at different loading stages within the allowable stresse in prestressed concrete (PSC) bridge design. However, this traditional tensioning method usually results in a too conservative sectional depth in view of ultimate capacity of a girder. A new design method which can realize the reduction of sectional depth of PSC girder is theoretically suggested in this study. Tendons are tensioned twice at different loading stages: the initial stage and the stage after fresh slab concrete is cast. It can be shown that according to this technique, sectional depth can be significantly reduced and larger span can be realized compared to traditional ones. In this paper, there is an example about the design of bridge by means of new PSC design theory, having a longer span than a existing railway bridge. Also, a new method by continuous tendon profiles is presented to be continuous a IPC bridge.

• Journal of Korean Society of Steel Construction
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• v.17 no.5 s.78
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• pp.549-559
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• 2005

A railway bridge with a double composite section is proposed to enhance the structural performance of existing two-girder bridges because the governing design parameter of railway bridges is the flexural stiffness. The concrete deck in negative moment regions is neglected in the design of continuous composite bridges assuming the concrete slab has no resistance to tension. Therefore, the flexural stiffness of the composite section in the negative moment region is reduced resulting in the increase of the depth of the steel section. In order to resolve this disadvantage, several methods are suggested and the double composite section is one of the excellent solutions for extending the span length and increasing the flexural stiffness. In this study, push-out tests on lying studs and mixed stud shear connection with lying and vertical studs were performed to investigate the behavior of the shear connection in the double composite section. Static strength of the shear connection was evaluated through the test results and numerical analyses.