• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.705-710
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• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• Tunnel and Underground Space
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• v.22 no.3
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• pp.196-204
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• 2012

Quantification of roughness plays an important role in modeling strength deformability and fluid flow behaviors of rock joints. A procedure was suggested to simulate joint roughness, and characteristics of the roughness was investigated in this study. Stationary fractional Brownian profiles with known input values of the fractal parameter and other profile properties were generated based on random midpoint displacement method. Also, a procedure to simulate three dimensional roughness surface was suggested using the random midpoint displacement method. Selected statistical roughness parameters were calculated for the generated self-affine profiles to investigate the attribute of roughness. Obtained results show that statistical parameters applied in this study were able to consider correlation structure and amplitude of the profiles. However, effect of data density should be tackled to use statistical parameters for roughness quantification.

• Proceedings of the Korean Reliability Society Conference
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• 2006.05a
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• pp.357-361
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• 2006

Fatigue fracture behavior of a hybrid joint part with bolting was evaluated in comparison to the case of static fracture. Hybrid joint part specimens for bending test were made with layers of CFRP and aluminum honeycomb. Characteristic fracture behaviors of those specimens were obviously different under static and cyclic loads. Static bending load showed the shear deformation at the honeycomb core, whereas cyclic bending load caused the delamination between CFRP skin layers and honeycomb core. Experimental results obtained by static and fatigue tests were considered in modifications of design parameters of the hybrid joint.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.166-173
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• 1998

The evaluation of joint fatigue strength of light weight materials for an electrical vehicle body has been performed through T-peel joint tests with the design parameters such as joint style, adherend type, adherend thickness, adhesive thickness, and various adhesives. Fatigue strength was evaluated through 5-Hz, tension-tension, load controlled test with the zero stress ratio. It was observed that the fatigue strength of the joint increases with the increase of the adherend thickness. With the increase of the adhesive thickness, however, the fatigue strength of the joint increases insignificantly. An aluminum-FRP adherend combination shows much higher fatigue strength than an aluminum-aluminum adherend combination. The results of fatigue tests were found to be consistent with those of static tests.

• Steel and Composite Structures
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• v.37 no.1
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• pp.75-90
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• 2020

This paper introduces a new composite joint, which is the composite CFST beam- concrete column joint, and it is more convenient for transportation and erection than conventionally welded joints. The main components of this joint include steel H-beams welded with CFST beams, reinforced concrete columns, and reinforced concrete slabs. The steel H-beams and CFST beams are connected with a concrete slab using shear connectors to ensure composite action between them. An experimental investigation was conducted to evaluate the proposed composite joint performance. A three-dimensional (3D) finite element (FE) model was developed and analyzed for this joint using the ABAQUS/explicit. The FE model accuracy was validated by comparing its results with the relevant test results. Additionally, the parameters that consisted of the steel box beam thickness, concrete compressive strength, steel yield strength, and reinforcement ratio in the concrete slab were considered to investigate their influence on the proposed joint performance.

• Steel and Composite Structures
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• v.36 no.5
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• pp.533-551
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• 2020

A finite element analysis (FEA) model is established to investigate the concrete-encased concrete-filled steel tubular (CFST) column to reinforced concrete (RC) beam joints under cyclic loading. The feasibility of the FEA model is verified by a set of test results, consisting of the failure modes, the exposed view of connections, the crack distributions and development, and the hysteretic relationships. The full-range analysis is conducted to investigate the stress and strain development process in the composite joint by using this FEA model. The internal force distributions of different components, as well as the deformation distributions, are analyzed under different failure modes. The proposed connections are investigated under dimensional and material parameters, and the proper constructional details of the connections are recommended. Parameters of the beam-column joints, including material strength, confinement factor, reinforcement ratio, diameter of steel tube to sectional width ratio, beam to column linear bending stiffness ratio and beam shear span ratio are evaluated. Furthermore, the key parameters affecting the failure modes and the corresponding parameters ranges are proposed in this paper.

• Steel and Composite Structures
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• v.24 no.4
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• pp.455-465
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• 2017

This paper presents a series of ultimate and fatigue experimental investigation on concrete-filled rectangular hollow section (CRHS) X joints with Perfobond Leister rib (PBR) under tension. A total of 15 specimens were fabricated, in which 12 specimens were tested under ultimate tension and 3 specimens were investigated in fatigue test. Different parameters including PBR stiffening, brace-to-chord ratio (${\beta}$) and inclined angle (${\theta}$) were considered in the test. Each joint was tested to failure under tension load. Obtained from test result, PBR was found to improve the tension strength and fatigue durability of CRHS joint substantially. Concrete dowel consisted by PBR and concrete inside the chord stiffened the joint, which leaded to a combination failure mode of punching shear and chord plastification of CRHS joint under tension. Finite element analysis validated the compound failure mode. Stress concentration on typical spot of CRHS joint was mitigated by PBR which was observed from fatigue test. Initial fatigue crack presented in CRHS joint with PBR also differentiated with the counterpart without PBR.

• Earthquakes and Structures
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• v.11 no.4
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• pp.665-680
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• 2016

This paper focuses on the study of seismic behavior of steel reinforced concrete special-shaped column-beam joints. Six specimens, which are designed according to the principle of strong-member and weak-joint core, are tested under low cyclic reversed load. Key parameters include the steel form in column section and the ratio of column limb height to thickness. The failure mode, load-displacement curves, ductility, stiffness degradations, energy dissipation capacity and shear deformation of joint core of the test subassemblies are analyzed. The results indicate that SRC special-shaped column-beam joints have good seismic behavior. All specimens failed due to the shear failure of the joint core, and the failure degree between the two sides of joint core is similar for the exterior joint but different for the corner joint. Compared to the joints with channel steel truss, the joints with solid web steel skeleton illustrate better ductility and energy dissipation capacity, but the loading capacity and stiffness are roughly close. With the increasing of the ratio of column limb height to thickness, the joints illustrate higher loading capacity and stiffness, better energy dissipation capacity, but worse ductility.

• Journal of Welding and Joining
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• v.25 no.2
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• pp.55-61
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• 2007

Flash butt weldability of 590MPa dual phase steel is carried out under micro metallographical examination and macro mechanical property tests. The objective of present study is to investigate the cause that brings on bond line fracture, and is to improve mechanical properties of the flash butt welded joint. The joint of flash butt welding has a superior tensile property, but has bad formability due to oxide formed at bond interface. The HAZ softening in the weld joint does not show. It was found that mechanical properties were increased with optimizing welding parameters and making application of oil dripping and post-weld heat treatment.

• Journal of Welding and Joining
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• v.24 no.1
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• pp.88-92
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• 2006

Laser-rotating arc hybrid welding was introduced by combining $CO_2$ laser and rotating gas metal arc welding. While the arc rotation enhances the weld pool motion, it reduces the undercut formation which is one of most critical weld defects in the conventional laser-arc hybrid welding. This research investigated the bead characteristics according to the welding parameters such as frequency of rotation, welding voltage, shielding gas composition and interspacing distance between laser and we. The welding parameters were selected to reduce spatter generation and ensure sound weld beads fur bead welding and butt welding with various joint gaps. Gap bridging ability was improved, such that the sound weld beads were achieved for butt joint with up to 2mm joint sap, with no adjustment of CTWD(Contact tip-to-workpiece distance) and electrode diameter.