Precast concrete (PC) modules have been increased its use in modular buildings due to their better seismic performance than steel modules. The main issue of the PC module is to ensure structural performance with appropriate connection methods. This study proposed a PC modular beam system for simple construction and improved structural and splicing performance. This modular system consisted of modules with steel plates inserted, and it is easy to construct by bolted connection. The steel plates play the role of tensile rebar and stirrup, which has the advantage of structural performance. The structural performance of the proposed PC modular beam system was evaluated by flexural test on one reinforced concrete (RC) beam specimen consisting of a monolithic, and two PC specimens with the proposed PC modular beam system. The results demonstrated that the proposed PC modular beam system achieved approximately 86% of the structural performance compared to the RC monolithic specimen, with similar ductility of approximately 1.06 fold greater.

The connection of the steel structure serves to transmit external forces to the main components. The same is true for the behavior of modular systems composed mainly of steel or composite members. In this study, the joint performance of the composite and steel modules proposed was evaluated. The analytical models of the two joint types were constructed and were subjected to cyclic loading to assess the safety and the energy dissipation capacity of the joint types. The analysis results of the joints showed that the joints of the modular systems remain stable when the joint rotation reached the seismic performance limit state of the 0.02 rad required for steel intermediate moment frame. It was also observed that the joint of the composite modular system showed higher energy dissipation capacity compared with the steel modular system.

This paper examines the seismic performance and structural design of the ceiling bracket-type modular connection. The bracket-type system reduces the cross-sectional area loss of members and combines units using fitting steel plate, and it has been developed to be fit for medium-story and higher-story buildings. In particular, this study conducted the cyclic loading test for the performance of the C-type and L-type brackets, and compared the results. The test results were also compared with the commercial FEA program. In addition, the structural design process for the bracket-type modular connection was presented. The two connections, proposed as a result of the test results, were all found to secure the seismic performance level of the special moment steel frame. In the case of initial stiffness, the L-type bracket connection was found to be great, but in the case of the maximum moment or fully plastic moment, it was different depending on the loading direction.

Modular buildings are constructed by assembling modular units which are prefabricated in a factory and delivered to the site. However, due to a problem of noise between floors, concrete slab is usually poured at the top or bottom level of a modular unit in Korea. This greatly increases the weight of buildings, but designing vertical members of modular units to resist overall gravity loads is very inefficient. In this study, considering domestic building construction practices, feasible structural systems for tall modular buildings are proposed in which separate steel frames and reinforced concrete core walls are designed to resist gravity and lateral loads. To verify performance, a three-dimensional structural analysis has been performed with two types of prototype buildings, i.e., a residential building and a hotel. From the results, wind-induced lateral displacements and seismic story drifts are examined and compared with their limit values. Between the two kinds of buildings, the efficiency of the proposed system is also evaluated through a comparison of the weight of structural components. Finally, the effect of a floor diaphragm on the overall behavior is analyzed and discussed.

This study attempted to figure out the usage of the modular system in other fields through literature review and empirical study, analyze its structural method in fashion. After analyzing architecture & product-related books, the Internet data and previous studies, the modular system's five structural methods were obtained. Then, 991 photos of women's clothes from 2003 to 2014 were collected through the fashion websites in Korea and abroad. The results can be summarized as follows: First, the following five structures were derived: assembling structure, overlapping structure, arrangement structure, inserting structure and folding structure. Second, according to analysis on the structural method of the modular system in modern fashion, overlapping structure (34%) was the most common. Third, in fashion, the use of fastener for installation and removal is important for assembling structure. In terms of overlapping structure, 3D volume by vertical accumulation was commonly observed. Arrangement structure revealed a horizontal and flat shape through simple arrangement. In inserting structure, on the contrary, non-standardized modules were used as a part of clothes or decorative elements. In folding structure, origami technique for reduction and expansion was used.

부두포장의 하부구조는 물에 대한 영향을 끊임없이 받는다. 따라서, 도로나 공항과 같은 다른 시설과 달리 설계, 시공은 물론 유지관리 측면에 있어서도 큰 차이를 가진다. 공용기간이 지남에 따라 중력식 안벽, 널말뚝식 안벽 등은 물론 대부분의 부두시설에서 배후 매립토 중 세립토가 조수의 변화 등의 물의 출입에 영향을 받아 유출하게 된다. 시설의 변형, 파손 등에 의해 포장 하부재료의 손실을 막기 위한 필터층이 파손되기도 하고 이러한 경우 급격한 유실로 인해 큰 하부에 공동이 발생하여 부두포장이 함몰하거나 포장 상부에 공동이 발생하기도 한다. 부두포장의 침하는 그 원인 및 진행성 여부를 판단하여 보수해야 하는데, 진행성과 비진행성에 대한 판단은 장기적인 조사가 필요하기 때문에 즉각적인 보수가 어렵다. 때문에, 침하구간에 체수가 발생한 경우 배수구를 절삭하여 시설물의 구조적 성능을 오히려 떨어뜨리고, 위험한 개소에 철판을 덮어 통행하는 등 임시방편을 사용하거나, 진행성 침하구간에 사용성을 위해 아스팔트 덧씌우기를 반복적으로 실시해야 하는 등 적절한 보수가 어려운 실정이다. 카펫+슬래브 모듈, 스마트 조인트 모듈, 맞춤형 지지 모듈로 구성되는 모듈러 도로시스템은 기존의 경험적-역학적 도로설계에 있어서 역학적으로 불확실한 포장 상부와 하부 지반과의 요소를 배제하는 혁신적인 개념의 도로시스템으로 기존 도로시스템의 연약지반부, 교대 뒤채움, 용출수구간, 절토부 배수불량 구간은 물론 부두포장에 매우 적합하다고 판단된다. 또한, 공장생산을 통한 기성품을 스마트 조인트 모듈을 이용하여 교체하는 쾌속 시공이 가능한 도로시 스템이기 때문에 유지보수에 있어서도 파손이 발생한 슬래브를 신속히 교체할 수 있어, 부두뜰에서의 하역작업이나 야적장의 화물적재 문제로 시공이 어려운 개소에 대한 유지보수가 신속히 가능해 사용자에게 미치는 경제적 손실을 최소화 할 수 있다. 기존 항만시설의 하부에 침하, 공동이 발생한 경우 세굴로 인해 세립토가 유실되고 조골재, 잡석 등이 남아있는 하부지반이라도 모듈러 도로시스템을 적용할 수 있다. 향후, 본 연구에서 검토한 부두포장의 신설, 유지보수시 적용하는 방안 외에 다양한 기능을 도입할 수 있는 모듈러 도로시스템의 장점을 살려 침하량 계측, 진행성 침하에 대한 복구기능 등 부두포장에 필요한 기능의 도입에 대한 검토와 연구가 필요하다.

본 연구에서는 복강판-모듈러 시스템과 같이 구조 기준에 명시되지 않은 새로운 시스템의 반응수정계수를 산정하는 절차를 제안하였다. 기본 개념은 구조성능 실험결과를 바탕으로 모델링 된 시스템의 비선형 정적 해석 곡선으로부터 세부 구성요소인 초과강도계수와 연성계수의 도출하고, 단자유도 시스템으로 간주하고 평가된 반응수정계수를 다자유도 동적 거동을 고려한 다자유도 밑면전단 수정계수로 수정하여 시스템의 최종적인 반응수정계수를 결정하는 것이다. 제안한 절차에 따라 이중골조시스템으로 설계된 2층부터 5층까지의 복강판-모듈러 시스템에 대해 평가한 결과, 최종적인 반응수정계수는 5층(층고 4m기준)을 복강판-모듈러 시스템의 적용 가능한 층수의 상한으로 하여 4로 결정하는 것이 타당할 것으로 판단하였다.

Le Corbusier had developed the Modulor replacing the Regulating Lines in the 1930's and 1940's. The lines can not produce lyrical ideas or creational concept but make plastic dimension pure only to keep in balance. First, the Grid of Proportions was developed and then the Modulor 1. The Modulor originated in one square, double square, the two golden means added or subtracted, the place of the right angle, human dimension, the Fibonacci series and divided Red series and Blue series. He developed the Modulor 2 for a reconciliation between the foot-and-inch system and the metre. As Corbusier devoted himself to a social and industrial problem, he was sure that a transcendental universality be in cosmos including a human being. His dream was to creat a orderly and harmonious utopia. What intrinsic harmony between Cosmos, nature and a human being be realized by mathematic order was the reason he hinted himself to the proportion.

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

모듈러 시스템은 하중저항 방식에 따라 개방형 모듈러 및 폐쇄형 모듈러 분류가 된다. 그 중 개방형 모듈러는 폐쇄형 단면을 갖고 있어 부재간의 접합 및 모듈간의 접합을 하는데 제약이 있다. 이에 Choi et al.(2017)은 절골형 단면 안에 콘크리트를 채운 합성 모듈러 시스템을 제안하였다. 하지만 모듈간 접합을 강접으로 가정하여 접합부 거동에 의해 구조물 전체에 미치는 영향을 파악하지 못하였다. 본 연구에서는 유한요소해석을 하여 제안된 모듈러의 접합부 강성을 산정하였다. 성능 검증을 위해 FEMA 440의 선형화방법을 사용하여 접합부 강성 유, 무에 따른 구조물의 내진성능을 파악하였다. 해석결과에 따르면 접합부 강성을 고려한 모델의 보유 내력 및 층간변위비가 접합부 강성을 고려하지 않은 모델에 비해 현저하게 감소하는 것으로 나타났다. 이를 토대로 접합부의 강성이 전체 구조물 거동에 영향을 미치는 것으로 판단된다.

This study is an attempt to develop modular house structural systems with safety seismic performances under maximum seismic load of 0.3G. The modular house system was designed with joints (plan) using four-clip simple fastening type, and was also adopted a type of double inter-metallic assembly modular systems using a light metal. The seismic performance was evaluated.

This paper was conducted to evaluate structural performance of modular system connection with bracket. It was evaluated to two external connection specimens and two internal connection specimens. As a result of experiment, excessive shear deformation of the bracket was observed in all of the specimens. However, all of the specimens satisfied the requirement for intermediate moment frames (IMF) targeted in the experiment.

In this paper, structural behavior of internal and external connection of modular system was evaluated by finite element analysis(FEA). As a result of FEA, results of experiment and analysis were nearly similar to validate analysis model. Parametric analysis will be necessary using this valid analysis model

The purpose of this study was to experimentally evaluate seismic performance of connection of modular system. As a result of experiment study, two specimens did not show the strength reduction and brittle fracture at connection until 2% story drift. Thus, requirements for intermediate moment frame(IMF) was satisfied in two specimens.

모듈러 시스템은 하중저항 방식에 따라 개방형 모듈러 및 폐쇄형 모듈러 분류가 된다. 그 중 개방형 모듈러는 폐쇄형 단면을 갖고 있어 부재간의 접합 및 모듈간의 접합을 하는데 제약이 있다. 이에 Choi et al.(2017)은 절골형 단면 안에 콘크리트를 채운 합성 모듈러 시스템을 제안하였다. 하지만 모듈간 접합을 강접으로 가정하여 접합부 거동에 의해 구조물 전체에 미치는 영향을 파악하지 못하였다. 본 연구에서는 유한요소해석을 하여 제안된 모듈러의 접합부 강성을 산정하였다. 성능 검증을 위해 FEMA 440의 선형화방법을 사용하여 접합부 강성 유, 무에 따른 구조물의 내진성능을 파악하였다. 해석결과에 따르면 접합부 강성을 고려한 모델의 보유 내력 및 층간변위비가 접합부 강성을 고려하지 않은 모델에 비해 현저하게 감소하는 것으로 나타났다. 이를 토대로 접합부의 강성이 전체 구조물 거동에 영향을 미치는 것으로 판단된다.

By producing pre-engineered modular system in the factory, It is enable to expedite construction and can be distinguished from two types by the method resisting load. One is the open-sided modular system composed of beams and columns. The other is enclosed modular system composed of panels and studs. Of the modular systems, the open-sided modular system buildings the connection between modules are difficult due to closed member sections, and the overall strength is reduced as a result of local buckling. In this study, in order to solve these problems, a modular system with folded steel members filled with concrete are proposed. The capacity spectrum method presented in ATC 40 is used for seismic performance assessment of the proposed model structure and the structure with conventional steel members. The analysis results show that at the performance point of each model the number and rotation of plastic hinge formed in the proposed modular system are smaller than those in the conventional system. Based on this observation it is concluded that the proposed system with composite sections has superior seismic capacity compared with conventional system.

This paper presents a study on the construction method of modular pier system using CFTs. Modular Pier System consist of various prefabricated modules and is constructed by assembling components. Research scop include development of standard modules for adjustable to various height, connection between modules, and test bed construction. For the evaluation of this systems’s performance, Many numerical and experimental studies were conducted. In this study, we develop rapid construction system for site application of modular pier.

Since existing modular construction designs are 2D based, they cannot reflect the characteristics of modular buildings built by a dry construction method, in which objects are assembled and constructed as a unit. This study aims to develop a BIM library information system of modular buildings by utilizing the “Construction Information Classification System” developed already in Korea.