• Journal of Korean Institute of Industrial Engineers
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• v.22 no.4
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.05a
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• pp.168-171
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• 2001

Due to intrinsic load eccentricity, severe peel stress concentration occurs at both ends of the single-lap joint. To avoid load eccentricity as well as the singular tensile peel stress in the joint interface, composite wavy-lap joint is proposed. In this paper, refined 3-D stress analysis of wavy-lap joint is performed by finite element method using parallel mutifrontal solver. Analysis results show that the singular tensile peel stress concentration is totally avoided in wavy-lap joint, and that loads are more evenly transferred over the length of the joint. Therefore, the strength of wavy-lap joint is significantly higher than that of conventional single-lap joint. And it is believed that even higher strengths can be obtained by optimizing the new design configuration.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.603-611
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• 2006

The fundamental joint configuration that is often applied in offshore structures is the K-joint. The paper describes a numerical parametric study for K-joint parameters (using the finite element program) and compared with results of the experimental test. The stress effects of various parameters including $\alpha,\;\beta,\;\gamma,\;\tau\;and\;\theta$ were investigated. The paper introduces the stress distributions as per each parameter. From the study, the maximum stress of joint became different according to the variation of joint parameters.

• Journal of the Korea Furniture Society
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• v.24 no.4
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• pp.444-451
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• 2013

In this paper, experimental results were presented on the moment resistance of a concealed timber post base joint aimed at replacing in a modern design introduced lately the wood to wood joints used in the traditional Korean timber house - Hanok. Preliminary results showed that the original configuration of the joint offers a limited moment resistance and a low ductility and energy dissipation. In an attempt to mitigate those limitations without undergoing major changes in the connector, three new configurations were proposed and investigated. Motivated by the wish to prevent the early failure in welds, a first approach consists in directly bolting the connector's upper plate to lower the stress on the weak welds. Alternatively, another approach focused on increasing the strength of these welds by extending their length to the full width of the metal wings. Finally, a third configuration investigated the effect of those two approaches combined. In conclusion, reinforcing the welds found out to be the best option among the presented ones. As a result, this connector considered to show proper ability for use in earthquake-resistant structures with suited lateral-resistant structural elements.

• Smart Structures and Systems
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• v.22 no.4
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• pp.459-468
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• 2018

In this paper, the effect of non-persistent joints was determined on the behavior of concrete specimens subjected to biaxial loading through numerical modeling using particle flow code in two dimensions (PFC2D). Firstly, a numerical model was calibrated by uniaxial, Brazilian and triaxial experimental results to ensure the conformity of the simulated numerical model's response. Secondly, sixteen rectangular models with dimension of 100 mm by 100 mm were developed. Each model contains two non-persistent joints with lengths of 40 mm and 20 mm, respectively. The angularity of the larger joint changes from $30^{\circ}$ to $90^{\circ}$. In each configuration, the small joint angularity changes from $0^{\circ}$ to $90^{\circ}$ in $30^{\circ}$ increments. All of the models were under confining stress of 1 MPa. By using of the biaxial test configuration, the failure process was visually observed. Discrete element simulations demonstrated that macro shear fractures in models are because of microscopic tensile breakage of a large number of bonded discs. The failure pattern in Rock Bridge is mostly affected by joint overlapping whereas the biaxial strength is closely related to the failure pattern.

• Proceedings of the KWS Conference
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• 1997.05a
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• pp.78-80
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• 1997

• Journal of Korean Society of Industrial and Systems Engineering
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• v.16 no.28
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• pp.115-124
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• 1993

In this study, as one of the methodologies for supplementing the deficiencies which are likely to happen in implementing the Joint Research and Development Project we suggest the Quality Assurance System applicable through analyzing the cases. In Quality Assurance System in implementing the Joint Research and Development Projects, the mutual review & approval method for the output by stages, technology interchange method, the frequent meeting among engineers, the test plan and the configuration management system should be provided.

• Steel and Composite Structures
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• v.3 no.5
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• pp.321-331
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• 2003

The paper presents the results of an experimental investigation conducted on welded tubular joints, that are employed in offshore platforms, to study the behaviour and strength of these joints under axial brace compression loading. The geometrical configuration of the joints tested were T and Y. The nominal diameter of the chord and brace members of the joint were 324 and 219 mm respectively. The chord thickness was 12 mm and the brace 8 mm. The tested joints are approximately quarter size when compared to the largest joints in the platforms built in a shallow water depth of 80 m in the Bombay High field. Some of the joints were actually fabricated by a leading offshore agency which firm is directly involved in the fabrication of prototype structures. Strength of the internally ring-stiffened joints was found to be almost twice that of the unstiffened joints of the same configuration and dimensions. Bending of the chord as a whole was observed to be the predominant mode of deformation of the internally ring-stiffened joints in contrast to ovaling and punching shear of the unstiffened joints. It was observed in this investigation that unstiffened joint was stiffer in ovaling mode than in bending and that midspan deflection of unstiffened joint was insignificant when compared to that of the internally ring stiffened joint. The measured midspan deflection of the unstiffened joint in this investigation and its relation with the applied axial load compares very well with that predicted for the brace axial displacement by energy method published in the literature. A comparison of the measured deflection and ovaling of the unstiffened joint was made with that published by the author elsewhere in which numerical prediction of both quantities have been made using ANSYS software package. The agreement was found to be quite good.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• Structural Engineering and Mechanics
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• v.41 no.3
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• pp.421-440
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• 2012

In this analytical study numerous prior experimental studies on reinforced concrete beam-to-column connections subjected to cyclic loading are investigated and a database of geometric properties, material strengths, configuration details and test results of subassemblies is established. Considering previous experimental research and employing statistical correlation method, parameters affecting joint shear capacity are determined. Afterwards, an equation to predict the joint shear strength is formed based on the most influential parameters. The developed equation includes parameters that take into account the effect of eccentricity, column axial load, wide beams and transverse beams on the seismic behavior of the beam-to-column connections, besides the key parameters such as concrete compressive strength, reinforcement yield strength, effective joint width and joint transverse reinforcement ratio.