• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.4
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• pp.1327-1336
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• 2013

In this study, the effects of corrugated webs on the ultimate behavior of horizontally curved I-shaped girders are investigated. Because of the geometric characteristics of corrugated plates, corrugated webs can be used for enhancing torsional and warping stiffness of plate girders. Many researches have been conducted to study the effects of corrugated webs on the ultimate behavior of straight girders. But, the studies of the ultimate behavior of horizontally curved girders with corrugated webs, which generally show out-of plane behavior manly, have been rarely performed so far. By performing inelastic-nonlinear analysis, the ultimate behavior of curved girders with corrugated webs is studied in this paper. Laterally unsupported length and subtended angle of girders, and length of height of corrugation of webs are considered as the geometric parameters which would be expected to affect the ultimate behavior. By this analytical study with considering the geometric parameters, the changes of ultimate behavior and load carrying capacity of curved girders with corrugated webs are investigated. Also, the effects of corrugated webs on the increase of load carrying capacity for curved girders are studied with comparing to the capacity of general curved girders with flat webs. According to the analytical results, corrugated webs can be used to increase the ultimate load carrying capacity of curved girders, because of their high torsional and warping stiffness. But, it is also indicated that they may decrease the load carrying capacity of curved girders which have relatively small subtended angle or initial curvature, because of an accordion effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.