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53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53
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: Burj Dubai Main Contract(The Burj Tower)
: Emaar Properties
: 47 (2005. 1~2008. 11)
- : 160 +
- : 700m ( )
- : 15
:
- : 1~39
- : 40~108
- : 109
(Core Wall)
,
,
' 3 ' .
800kg/ , 3
, ,
-
Contents
2005 53
:
POSEIDON PROGRAM (
) /4
(Performance Based Fire
Protection Design) /14
/25
MULTI-DOF(Degree Of Freedon) CONSTRUC
TION ROBOT FOR A CURTAIN WALL
INSTALLATION OF A SKYSCRAPER /31
Core Wall (ACS Form) /40
/61
() /66
/70
/72
/74
(Alkali-Free)
/76
/78
/80
/82
/84
Joint /87
/90
, Duct /95
/99
Weather Seal Joint /101
Bar /105
Detail-2 /107
Control Joint /110
Open Joint /113
/116
/119
/122
/126
/128
-
1.
,
,
.
.
,
.
(
)
.
. (Loading
manual) (,
, , )
.
Technology Information
4 2005
POSEIDON PROGRAM ( )
TA
-
,
.
2.
2.1.
, , , ,
,
. Floating Dock
(Cassion)
.
.
2.2.
(Dredger),
(SCP, DCM, Pile Driver &
Hammer ), (Floating Crane),
(Barge), (Tug Boat)
,
.
.
.
.
.
.
5
POSEID
ON PRO
GRA
M
(Barge) Steel , Flat barge, Hopperbarge, Floating crane, Foating dock (Non-Proplusion) .
=Barge= : , .
KR(, Korean Register of Shipping), NK, ABS 1 , .
-
2.3.
. 3D
.
3.
3.1.
POSEIDON
Work
Barge Stability Calculation
Towing Simulation
.
, ,
.
3.2. POSEIDON
3.2.1.
(Stability) .
.
(Righting Force)
.
3.2.2.
,
(B:Center of Buoyancy)
.
(G:Center of
Gravity)
.
3.2.3. (M: Metacenter) (1)
,
.
.
Technology Information
6 2005
: , , Barge .
-
.
(M) .
3.2.4. (Initial stability)(2)
1-1
WL, W1L1 : (Water Line)
K :
B, B' :
G :
M : , B1 W1L1
Z : G B1M
:
GM
( GZ)
GZ = GM Sin--------1
, GM = KM-KG=(KB+BM)-KG --2
,
(M) (G)
.
, (M) ,
.
2 BM
BM=I/
I :
:
GGO
GGO = ('/)(i/)
':
:
i :
GM GGO GOM
. (Mt)
tan= Mt / GOM
3.2.5. (Stability at large
Heel Angle)
1-1
h, h1: , g, g1
7
POSEID
ON PRO
GRA
M
[1]
-
W1L1
v :
GZ = [{v(gh-g1h1)/}-GB(1-cos)}]
GZ = {(vhh)/}-BGSin
(Arm: GZ)
--------------- 3
, (M)
(Righting
Arm: GZ)
. GZ
(Curves of Statical
Stability) . GZ
.
.
3.2.6. GM
POSEDON
() GM
Draft,
Heeling Trim
.
GM
(Prosedon)
GG0
.
3.2.7. (Heeling)(3)
(Free Board), ,
(Rolling),
, ,
(Effect of Free Surface)
.
Technology Information
8 2005
[2]
* , ** *** (Bmolded) . , (fresh water), Ballast water (free surface)
.
-
.
1) (Freeboard):
(Deck Dege)
GZ
.
2) (Sheer): (Forward)
(Aftward)
.
3) (B): GM
. GZ
GM .
4) (G: Center of Gravity):
G G1
G1Z1 .
G1Z1 =GZ GG1 Sin
G1 G ,
.
.
5) (Change of Draught)
G
GZ
.
. 100%
.
3.3.
3.3.1. (4)
(,
, ) (Rt)
. ,
.
,
.
.
Rt
Rt = Rf+Rw+Re+Ra+Raw
Rf :
Rw :
Re :
9
POSEID
ON PRO
GRA
M
, ,
-
Ra :
Raw :
Rt .
1) (Rf: Frictional Resistance)
.
.
Rf () = 0.000136F1A1V2
(Ton)
A1 = (m2)
F1 = = 0.8
V = (Knots)
2) (Rw:Wave-Making )
,
,
.
.
Rw ()= 0.014CF2A2V2
(Ton)
C : 1.2
A2 :
V :
F2 : . .
3) (Re: Eddy )
(Appendage)
.
4) (Ra: Wind Resistance)
.
.
Ra ( ) = 0.0000195 CSCHA3
(VW+V)2 (Ton)
A3 :
Technology Information
10 2005
1989-6 1999-106
-
VW : (Knots)
V : (Knots)
CS :
CH :
5) (Raw)
.
3.3.2.
1)
S = K (L1 + L2)
S : (m)
L1 : 1/2
(m)
L2 : (m)
K :
2)
.
.
.
11
POSEID
ON PRO
GRA
M
1989-6 1999-106
-
3.4.
3.4.1. Work Barge Stability Calculation
( (Length),
(Breadth), (Depth), )
Stability (Displacement, Draft,
Trim, Heeling Angle, GM )
3.4.2. Towing Simulation
Towing Rope
3.4.3. Configuration
(/
)
Technology Information
12 2005
[Poseidon ]
-
3.5.
(Barge)
Caisson, Cassion
.
13
POSEID
ON PRO
GRA
M
: Flat Barge, Hopper barge, Pontoon, SCP, DCM, Dredger, FloatingCrane, Floating Dock
(1) (3)(1986), , (2) (1995), 1,(4) Crane and Rigging Handbook(1999), Ronald G. Garby(5) Principles of Naval Archititure(Vol.1),Editors Henry E. Rossell (6) (1999), (7) (1985), , (5) (2002),
3.6. ""
Crane barge, Floating dock Report Sample
-
1.
.
.
,
.
(Code Based Design)
.
.
,
.
.
.
(Suppression)
(Fire control)
.
,
Technology Information
14 2005
(Performance BasedFire Protection Design)
()
-
.
2. (Performance Based FireProtection Design)?
.
.
?
(Fire Load)
? (Atrium)
?
(Smoke Control
System) ?
?
.
.
FDS (
)
(snapshot) .
15
(: Life Safety, Property Safety or
Business Interruption)
(, , )
(, ,
)
( , , ,
)
(, , ,
(, ,
)
(, , ,
)
-
3. (EngineeringGuide to PerformanceBased Fire ProtectionDesign & Analysis)
(Engineering Guide to
Performance Based Fire Protection Design &
Analysis) .
, ,
,
.
.
1
2
3
4
5
6
6.1 (Deterministic Analysis)
6.1.1
6.1.2
6.1.3
6.1.4
Technology Information
16 2005
-
6.1.5
6.1.6 //
6.1.7 ( )
6.1.8 / (
)
6.1.9
6.1.10
6.1.11
6.1.12
6.2 (Risk-Based Analysis)
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6 //
6.2.7 ( )
6.2.8 / (
)
6.2.9
6.2.10
6.2.11
6.2.12
7
8
8.1
8.1.1
8.1.2
8.1.3
8.1.4 NFPA 101 Life Safety Code
8.1.5 IBC Code
8.2 Tools
8.3 (SFPE )
8.4 ()
8.5
8.6 Heat Release Rate
8.7
8.8
8.8.1 I
8.8.2 II
8.9
8.9.1 I ()
8.9.2 II ()
.
.
17
-
.
.
1 2
3
. 4
. 5
, 6
. 7
.
8
,
. 8.1
8.2 Tool
. 8.3
.
8.4 8.5
Heat Release Rate
. 8.6
,
8.8 8.9
.
4.
(Performance
Based Fire Protection Design)
.
4.1
FAB
CLASS1~
CLASS 1000
.
HVAC
HEPA
.
. /
. /
.
Technology Information
18 2005
-
.
4.2
Basic Design
.
4.3
4.4
Wet Station
, PVC
.
Wet Station
.
.
Wet Station
.
//
/ /
.
. IPA
.
IPA
, PVC
Wet Station ,
Process Area
.
19
/
/
Basic Design
-
- IPA :
- WS : Wet Station
,
.
0~75 IPA , Wet Station 1~1.5MW
, Wet Station 180 .
, 24MW
.
Technology Information
20 2005
4.5 -
A B C D
0~75s 75~180s 180~260s 180~350s
165kW 1~1.5MW 1.5~18MW 1.5~24MW
(kg/s) 5 14.4~17.5 17.5~85.9 85.9~100.7
* :
*
1) Sprinkler
IPA WS WS
-
21
* .
* 115 .
* Wet Station
.
2) Sprinkler
4.6
Wet station FAB
.
1)
-
Technology Information
22 2005
2)
3)
-
, , / ,
NFPA 204
,
,
Sprinkler
,
NFPA ,
//
.
//
.
NFPA 204
,
,
, Smoke
Curtain
.
,
.
4.7
.
,
.
.
,
,
,
.
1,000ppm FAB
Grating Plenum
,
Plenum
.
1m3/min
()
,
.
.
,
,
.
23
-
Grating Plenum
.
, FAB
Plenum
, ,
, .
Basic Design
.
.
5. (Performance Based FireProtection Design)
, , , , ,
(Performance Based Fire Protection Design)
.
, , ,
, , (Multiplex)
, ,
.
,
,
,
.
10
,
, ,
, 16, 3
/
.
,
, .
,
,
(Performance Based Fire Protection Design)
.
Technology Information
24 2005
-
1.
.
(Passive Control)
(Base Isolation System)
, ,
.
.
25
AbstractRecently, the seismic isolation technique is widely used in high seismicity regions. A major advantage
of using the seismic isolation is in the reduction of the earthquake damage in structures by lengtheningthe fundamental period. The additional construction cost for base isolated structures compared to
conventional structures is the cost for the installation of isolators and a transfer floor. In this study, theschematic structural design for isolated and fixed base structure are performed for some structuralsystems and the amount of structural materials for two cases are compared for the cost evaluation.
: , , , , Keywords : Base Isolation, Earthquake Resistant Design, Cost, Moment Resisting Frame, Shear Wall
The Cost Estimation of Base Isolated
Structures
() ,
-
Technology Information
26 2005
,
,
. ,
,
.
.
.
.
,
,
10%
.
.
.
.
.
,
.
.
2.
(MRF)
.
2 1
6m
500kgf/m2, 300kgf/m2
10, 15, 20 .
1 (a)
, 1 (b)
, 1(c)
.
( 1 (a)) ( 1
-
(b)) 1 (c)
. 1
, K
.
, WT.
3 .
MRF 10 3
6
. 2
.
(2000, )
0.11, 1, 1.2
.
,
UBC 97
2 . 2 UBC 97
Sb,
Zone 4 .
27
K = 42WT2g
2
1
-
3.
3.1
(
:5, :6)
. (UBC97)
2
3.
2 (D.L+L.L)
.
. 10, 15,
20
2 .
UBC97 . 2 (a)
10
.
.
. 15 20
.
.
10
4.6%, 20 2.7%
.
Technology Information
28 2005
1
2 MRF
10 15 20
MRF 1.3 3.0 45tf/m 1.5 4.5 33tf/m 1.8 5.0 36tf/m
0.5 3.0 65tf/m 0.9 3.0 98tf/m 1.5 4.5 67tf/m
-MRF 0.5 3.0 80tf/m 1.0 3.0 115tf/m 1.7 4.5 66tf/m
Case Col(1~3FL) H-4144051828
10Col(4~6FL) H-4004082121
Col(7~10FL) H-4004001321
Girder H-4823001115
Col(1~2FL) H-4584173050
Col(3~5FL) H-4284072035
15Col(6~8FL) H-4064031624
Col(9~11FL) H-3943981118
Col(12~15FL) H-3884021515
Girder H-5943021423
Col(1~2FL) H-4984324570
Col(3~4FL) H-4584173050
Col(5~7FL) H-4584173050
20Col(8~10FL) H-4284072035
Col(11~13FL) H-4064031624
Col(14~16FL) H-3943981118
Col(17~20FL) H-3884021515
Girder H-7083021528
-
3.2
.
3
2 .
.
15cm
.
. EPA
0.4g (UBC97)
40-
D13 4-D13
. 20
15 20cm, 5
15cm .
EPA 0.4g (UBC97)
26-D16
6-D10
.
UBC
.
.
29
(a) 10
(b) 15
(c) 20
2
3
(a) 10 (b) 20
-
.
.
3.3 -
.
3.2 1
. 4
3.2
.
.
80cm80cm
EPA 0.4g (UBC97)
.
.
4.
.
.
.
.
Technology Information
30 2005
4 -
(a) 10 (b) 20
1. Int. Conf. of Building Officials, "Earthquake Regulations
for Seismic Isolated Structures", Uniform Building Code,Appendix Chapter 26, 1997
2. Int. Conf. of Building Officials, "Earthquake Regulationsfor Seismic Isolated Structures", Uniform Building Code,Chapter 23, 1991.
3. ATC3-06 "Tentative Provisions for the Development ofSeismic Regulations for Buildings," Applied TechnologyCouncil, 1978
4. R. Ivan Skinner & William H. Robinson, An Introductionto Seismic Isolation, John Wiley & Sons, 1992
-
31
AbstractRecently, the trend in architectural forms has been toward larger and taller building. The buildingmaterials, therefore, are getting larger and heavier as well. Typical construction machineries are,
however, not adequate for handling these materials and most of the construction works have been stillmanaged by a human operator. Construction processes are, therefore, fraught with a number ofproblems, including frequent accidents, high construction cost and heterogeneous construction
quality; which is depended on the experience of the worker. In various construction sites, automation inconstruction has been introduced to address these problems. In this paper, the process of a curtain
wall construction in the skyscraper is analyzed and proposed the Multi-DOF Construction Robot(MDCR) for this construction process. The need of man power can be reduced by using the proposedMDCR, the construction period and cost can be retrenched as well. The MDCR can be assured safetyin the curtain wall construction site. The performance of proposed robot system (MDCR) was verified
with the real application test in skyscraper construction site.
KeywordsCurtain wall, Skyscraper, Multi-DOF Construction Robot (MDCR), Modularization, a macro-micro
motion manipulator, Human machine cooperative system
MULTI-DOF (Degree Of Freedom)
CONSTRUCTION ROBOT FOR A CURTAIN WALLINSTALLATION OF A SKYSCRAPER
() , , , ,
-
1. INTRODUCTION
Recently, the research on robot has a lively
progress from the innovative development of
high-technology. An industry robot is, therefore,
applied widely to a manufacturing field such as
an automobile industry [1]. In the same way, the
application of construction automation system
and robot has been considered to improve
productivity and safety in construction industry.
Compared with a manufacturing industry, the
automation technique has not been applied due
to the characteristics of a construction industry
[2].
The current trend in building construction is
toward taller and larger buildings. The building
materials are, therefore, becoming larger and
heavier as well. Many of the types of equipment
used to handle these materials are outdated, and
most of the construction work is managed by a
human operator. Construction work is, therefore,
fraught with a number of problems, including
frequent accidents, high construction cost and
heterogeneous construction quality which
depend on the experience of the operator [3].
To solve these problems, it is necessary to
introduce the construction automation system
and robot. Furthermore, humankind has
expended its territory. It now reaches into space
and under the sea. Construction equipment,
therefore, must be developed to handle these
new construction challenges [4].
Generally, a construction robot has been
developed for higher productivity and better
safety in many different areas of construction [5,
6]. As the trend of building construction is
changed, the curtain wall to determine a building
image is becoming the object of many concern
in the constructing a building field. A curtain wall
is one of materials for outer wall construction
method. It is appropriate for super tall buildings
(or skyscraper). For this reason, an automation
system and robot for curtain wall installation in a
skyscraper construction procedure must be
developed.
Up to now, the development of curtain wall
construction is classified into 3 processes such as
Figure 1. In the first construction method, a
curtain wall is installed using a winch and crane,
as well as many workers. Its procedure is
complicated and slow; as well, it is dangerous for
the workers. In the second construction method,
Technology Information
32 2005
Figure 1. The development procedure of curtain wallinstallation method
-
to improve the procedure, a commercial mini
excavator with suction device is applied. The
suction device has one rotation mechanism
which is operated by manual manipulation.
Figure 2. shows the suction device.
Through use of the mini excavator system, a
curtain wall can be moved to the assembly point
easily. This system also reduces the number of
workers and the amount of construction period.
The curtain wall assembling, however, must still
be operated by a construction worker. The
authors of this paper propose a human machine
cooperative system which replaces the suction
device in the mini excavator system. The system
under developing now and it is applied to the
third construction method.
This study considered these processes and
conceived of a way to employ a robot in the
installation of the curtain wall in a skyscraper
construction work. The use of robots at
construction sites can reduce the need of human
involvement. Construction period and cost can
be reduced as well. An important aspect of the
use of robots at construction sites is prevention of
accidents [7, 8].
2. ANALYSIS OF ANEXISTING INTALLATIONMETHOD; THE MINIEXCAVATOR SYSTEM
The current curtain wall installation method
must be analyzed in order to design a robot. The
mini excavator system is composed of a suction
device and a commercial mini excavator. A
suction device holds the curtain wall with a
rotation mechanism. An excavator is used to
move the curtain wall to the assembly point.
Figure 3. shows the mini excavator system.
2.1 Definition of a coordinatesystem of curtain wall
Before analysis of the current curtain wall
construction method can be conducted, a
coordinate system must be defined as presented
33
Figure 2. The suction device
Figure 3. The mini excavator system
-
in Figure 4. The origin of the coordinate system
is located in the center of mass of the curtain
wall. T represents translation and R represents
rotation.
2.2 Analysis of an existinginstallation methodaccording to the procedure
2.2.1 Suction
By using the suction device on the end of a
mini-excavator, the curtain wall is held in place.
The required DOF is Rz to align with the
excavator.
2.2.2 Movement
The curtain wall is moved toward an assembly
point by a mini-excavator. The required DOF
are Rz to avoid obstacles.
2.2.3 Placement
The position and orientation of a curtain wall is
adjusted by a Rz rotation mechanism. The
required DOF is Tx, Ty, Tz, Rx, Ry, and Rz. The
utilizable DOF in a mini-excavator is Ty, Tz, and
Rx. The utilizable DOF in the rotation
mechanism is Rz. A residual DOF is handled by a
worker.
Technology Information
34 2005
Figure 4. A coordinate system of curtain wall
Figure 6. The movement process
Figure 7. The placement process
Figure 5. The suction process
-
2.2.4 Installation
The mini-excavator is separated from the
curtain wall. Then, the final assembly work is
executed by a worker. The required DOF is Tx,
Rx and Ry.
3. A CONCEPTUAL DESIGNOF MULTI-DOFCONSTRUCTION ROBOT
3.1 Determination of essentialDOF
In the installation of a curtain wall, the required
DOF is Tx, Ty, Tz, Rx, Ry, and Rz. The utilizable
DOF in the mini excavator is Ty, Tz, and Rx.
Through the experience of install operator,
essential DOF in the construction robot is Tx, Ry,
and Rz. Under developing system, therefore, has
a three-link RPR manipulator such as Figure 9.
3.2 Consideration of overturning
One of the most important considerations at a
construction site is the safety of human workers.
If an excavator loads over weight, it will be
overturned [9]. To prevent overturning, safety
tests were considered, as presented in Figure 10.
When the boom and arm spread parallel with
the ground, a heavy material could be lifted up to
500 kg by a commercial mini excavator. The
weight of a curtain wall is 300 kg from Table 1.
35
Figure 8. The installation process
Figure 10. The overturning test of a mini excavator
Figure 9. Schematic diagram of a three-link RPRmanipulator
-
The system under development, therefore, must
weigh less than 200 kg. Through the overturning
test, the boundary condition of robot design is
established, such as table 2. An importance of the
establishment of boundary condition in robot
design is prevention of accidents and troubles.
3.3 A design of systemspecification
The system under development can be used
not only in curtain wall installation but also in
other construction work. This system, therefore, is
modularized to add or remove DOF. Table 3.
shows the diagram of the modularized design.
The specification of each module is
determined by analysis of the current curtain wall
installation work. In the design of a system, the
required torque and force have to be calculated
to select the proper actuator, as presented in
Table 4. The actuator of each module is selected
by comparing AC servo motor with hydraulic
motor, such as Table 5.
Technology Information
36 2005
-
4. REALIAZAION OF THEMULTI-DOFCONSTRUCTION ROBOT
The curtain wall installation system overview is
a macro - micro motion manipulator. A mini
excavator is considered to be the macro motion
manipulator. The system under development is
considered to be a micro motion manipulator.
Figure 11. shows the micro motion manipulator
which is under development.
The arrangement of each module is
determined by analyzing of characteristic, such as
Table 6. Figure 12. shows the macro-micro
motion manipulator.
5. CONTROL STRATEGY
Generally, the fully automated system is not
suitable for construction work due to frequently
changed construction environments. A human
machine cooperative system is, therefore, suitable
for construction work [10, 11]. It is an interactive
system in order to cooperate with the human, as
presented in Figure 13.
37
Figure 11. The micro motion manipulator
Figure 12. The macro - micro motion manipulator
Figure 13. A human machine cooperative system
-
6. SIMULATION OFINSTALLAION
Before the developing system is applied to the
construction site, simulation is needed to estimate
goal achievement for a conceptual design, such
as Figure 14. Through the simulation of
installation, a new installation process is
established, as presented in Figure 15.
7. HUMAN ROBOTINTERACTION
For adequate (or optimal) productive gains, a
human should have a minimal capacity or skill
level to effectively and efficiently work with the
robot system. The job skills and experience,
therefore, are defined from a diagram of working
process as shown in Figure 16. The operators
require more skill and knowledge than the
traditional operator.
Technology Information
38 2005
Figure 15. Schematic diagram of curtain wallinstallation
Figure 16. Human robot interaction diagram
Figure 14. Simulation of curtain wall installation
-
8. CONCLUSIONS
The ultimate goal of the proposed system is for
human-machine cooperation. The robot is
commanded/operated through human force; in
turn, it assists the human operators [12].
The system described in the present study is
one step on the way to full automation. There is
still a long way to go; however, the research and
development continues. The advantages of
proposed system include the following:
* Simple and precise construction procedure
* Reduction of the numbers of human workers
* Safety assurance
* Retrenchment of the construction cost and
period
* Homogeneous construction quality
Much of the automation in construction has
been developed for outdoor work. The proposed
robot is being developed for curtain wall
construction work at indoor sites. The micro-
motion manipulator is modularized to allow for
addition or removal of a DOF. Furthermore, the
proposed robot can be applied to other
construction work by exchanging the end-
effecter.
39
REFERENCES
[1] Ae-Bok Lee, Min-Soo Choi, Ha-young Song, Moo-HanKim, A Fundamental Study on the Introduction ofMechanization, Automation Robotization in Constructionworks, KSME , Vol.11, No.2, pp 671~676, 1991.
[2] Young-Suk Kim, Hyun-Chul Kim, Jung-Hoi Seo, Se-Wook Oh, A Study for the Introduction of ConstructionAutomation and Robotics Technologies and DomesticConstruction Industry, Architectural Institution of Korea,Vol.17, No.2, pp 111~120, 2001.
[3] H.J. Sim ; C.S. Han, The Development of a Robot Handfor the Automation of Steel Column Construction,IFACSymposium on Robot Control - Syroco, pp. 723~728,2000.
[4] Albus, James S. Trip Report: Japanese Progress inRobotics for Construction,International Journal ofRobotics, Vol. 2, No. 2, pp. 103~112, 1986.
[5] Roozbeh Kangari, Advanced Robotics in Civil Engineeringand Construction,91 ICAR., Fifth International Conf,Vol.1, pp. 375 ~378, 1991.
[6] A. Warszawski, Economic implications of robotics inbuilding,Building and Environment, Vol.20, Issue 2, pp.73~81, 1985.
[7] Cusack, M, Automation and Robotics the Inter-dependence of Design and Construction Systems,Industrial Robot, Vol.21, No.4, pp.10~14, 1994.
[8] Wen, Xia ; Romano, V.F. ; Rovetta, A., Remote Controland Robotics in Construction Engineering,AdvancedRobotics, 1991. 'Robots in Unstructured Environments', 91ICAR., Fifth International Conference on 1991, pp.1429~1432, 1991.
[9] O.J. Kim ; W.S. Yoo ; K.H. Yoon ; H.G. Kang, Evaluationof Joint Reaction Forces for a Hydraulic ExcavatorSubjected to a Critical Load,KSME, Vol.20, No.4, pp.1154~1163, 1996.
[10] Manfred Hiller, Robotics and Autonomous Systems :Modeling, simulation and control design for large andheavy manipulators,Robotics and AutonomousSystems, Vol.19, Issue 2, pp. 167~177, 1996.
[11] Inaba, T. ; Hayashizaki, M. ; Matsuo, Y., Design of ahuman-machine cooperation system to facilitate skilledwork,Systems, Man, and Cybernetics, 1999. IEEE SMC'99 Conference Proceedings. 1999 IEEE InternationalConference on 1999, Vol.4, pp. 995~1000
[12] Manfred Hiller, Robotics and Autonomous Systems :Modeling, simulation and control design for large andheavy manipulators,Robotics and AutonomousSystems, Vol.19, Issue 2, pp. 167~177, 1996.
-
1.
1.2 Core Wall
1.1
1) Core Wall (Core )
2) : Core Wall
Spiral-N
3) Core Wall :
Deck
4) : Unit
System
3 Cycle
Technology Information
40 2005
Core Wall(ACS Form)
3
1)
-
41
Core
Wall
2)
-
Technology Information
42 2005
2. ACS Form
2.1 Core Wall
2.2 Core Wall Self Climbing Form
1)
RC Core Wall
RC Core Wall
2)
33( 13.4),
3: 3 Cycle
Core Wall
- Core Wall Slab (V, H
Cycle
- System Form
3)
-
43
Core
Wall
4)
System Form
:
/
//
5)
System Form
,
Formwork
,
,
/
2.3 Core Wall
-
Technology Information
44 2005
1)
-
()
-
- Form Form
- ACS Form ,
Form
: 3
1300
- Tower Crane
2)
- : 3(Wing1)
- JIB: Luffing Type (
)
- Setting Form
2 ,
Zone
.
-50TON Hydrauric Crane
-
Crane (1, 3)
Post Profile - Wing Tower
Crane (1, 2, 3)
Core Hoist
- : 1( 2, 12
)
- Deck Slab Beam Core WallWall
Tie
- CoreWall
-
45
Core
Wall
- ACS Form ,
Beam
2.4 ACS Form
1)
, : DOKA ACS Form SKE 100
(: DOKA, : )
Door Opening :
(: )
Core Slab :
Slab -Beam Deck Plate
-
2) ACS Form
DOKA
Core Wall
Supervisor
Form ,
-
Technology Information
46 2005
3) ACS Form
Form (3.2m)
FormOverlap
(Shoe Anchor ,
)
Expansion
Splice Form
(: 3.4m, Belt Wall:
4.8m-8.0m, Panthouse: 6.8m)
4) ACS Form
1 150mm
Form
10
Conc
10 Set Back
5) ACS Form
Form
Form
Transfer Slab
2.5 ACS Form
1) Suspension Shoe
Lifting System Shoe
-
47
Core
Wall
Anchor Shoe
Lifting System
(Door )
Shoe
-
Technology Information
48 2005
2) PC Beam Shoe
Shoe
Shoe
( Door : 2300mm, Shoe
: 2350mm)
Shoe
PC Beam
Shoe
Lifting System Shoe
Shoe
PC Beam
-
49
Core
Wall
3) Core Wall Beam -3
Core Wall Beam ACS Form
Tower Crane
ACS Form Beam
Form
ACS Form : Overhead
Crane (-1) -3
ACS FormBeam : -
Tower Crane ( )
-Overhead Crane
-3 (Con'c
)
ACS Form (+2)
ACS Form -3 Beam
-
4) Hoist
: Core Wall
Hoist Wall-Tie
Hoist
Wall tie Landing (-2
Wall-Tie )
Technology Information
50 2005
-
5) ACS Form
:
,
Core Wall
Zoning
51
Core
Wall
+3 : -1 : Profile
+2 : -2 : Shoe
+1 : , (Bolting) -3 : Beam
0 : , (Form)
-
Technology Information
52 2005
+3
+0
6) ACS Form
-
53
Core
Wall
-2
-3
-
2.6 Core Wall 3Cycle
1)
Core Wall Zoning Zoning
(
)
, Core Wall
(
,
,
(Embed pl. Form
Bolt, PC Beam )
Core Wall 3Cycle
Technology Information
54 2005
-
2) Core Wall 3Cycle
-3
- : 3
, Core Wall
- System
,
- Embedded Plate
- 2
,
- 1 T/C
T/C
55
Core
Wall
-
Core Wall
: Core Wall
- Core Wall
:
- 1
Zone "A", "B", "C" 3
, Zone "C"
4 . Form
Form
- CoreWall
, , ,
- 3
3
Tower Crane Hoist Climbing
-
Climbing
-Tower Crane 5Climbing
- Core Hoist 12
,
- BP8000 Slab
- CPB CPBMast
2. 7
1)
- ACS Form Setting
: ,
-
-
Technology Information
56 2005
-
-
-
-
-
57
Core
Wall
< > < >
< >
-
Technology Information
58 2005
2)
()
()
()
-
3)
4)
Core Hoist Core
Core
59
Core
Wall
-
Box T/C
5)
Technology Information
60 2005
-
61
- -
()
'04
+
PVC()
, Best Pratice
.
2004 1
5 (103)
Test(2)
2040Pipe
.
2040Pipe
, PVC
,
, VE , 8
() ,5
.
-
1.
2000
. ,
,
.
1999 WMS System(
)
,
.
2040 ,
.
2. ()
3. VE
3.1
1) (WMS System)
2)
(2001 2,1,3)-Pipe
PVC+(25T)
3) ALL Technology Information
62 2005
(2000 10)
2(2001)
-
4) Test (2002 6
3)
5)
(20027)
6)
+ PVC+(25T)
(20036)
3.2
1)
(PVC)
2) (Safty)
21
.
3) (Time)
,
4) (Cost)
(PVC) (25T)
3.3 VE
4. VE
4.1
4.2 1,2
1) :
2) : 04 01 15 ~ 02 13
2 : 04 04 13 ~ 04 16
3) : [max]
4) : +
PVC() +
+
2040+
5) : , 6LIT ,
1.3M
63
-
6)
7)
4.3
1) 2040
2)
PVC()+2040
+(PVC)
.
4.4
Technology Information
64 2005
-
5.
,
BP
65
-
, ,,
, ,
.
()
, ()
.
ex) 13
1 ()
.
1.
()
(A) , (A+1)
,
()
.
()
.
Technology Information
66 2005
()
-
Loss Time
.
7
()
,
.
2. ()
2.1
, ,
, , ,
.
.
2.2 ()
1) :
(A) ,
(A+1)
.
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.
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2)
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2.3
1)
2) (,
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3) , ,
4) , ( )
5) , :
67
(
)
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6) , :
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8) , ( ,
)
9) ,
10)
11)
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13) ,
2.4 ,
1) ,,
2) ,
3) (, , )
4) , ,
5)
( =
+20mm)
6) (, , :-
30, :-60)
7) ,
8) :
Part
9) PD
: Part
3.
3.1
(, , List,
...) (, ,
, ) 1 ()
,
.
3.2
()
.
3.3
,,
.
.
3.4
Technology Information
68 2005
-
1
.
3.5
.
Loss
.
4.
Risk
T/F
.
()
.
13
,, , ,
1 Setting 2
6
.
()
5%
.
69
(
)
-
Technology Information
70 2005
1.
,
,
,
.
(2),
(2)
(3)
(1) , (3)
(7)
(13)
(5)
(5) (7)
(5) (1),
(14)
(5) (1)
, (1)
(5)
(6) (9)
(7) ,
(1) (7)
0452968
-
(9) (5)
(12) (12)
.
2.
.
71
4a
4b
4c
4d
-
1.
,
.
,
.
2.
,
.
Technology Information
72 2005
0452402
-
73
-
1.
,
(100) (1)
,
(1) (12) ,
(12) (3)
(3)
(4) ,
(1)
(4)
(6)
(9) (10) (3)
(3)
(4) (9)
, (1) (3)
(9)
(6),
(8)
(6) ,
(6)
(5) , (1)
(6)
(8) (6) (5)
(11)
.
2.
Technology Information
74 2005
0449340
-
.
75
()
-
1.
,
.
,
.
.
.
Alkali-
Free
.
, ,
,
.
2. Alkali-Free
Alkali-Free
,
Technology Information
76 2005
(Alkali-Free)
0449040
-
.
(Total
Life-Cycle Cost)
.
.
77
-
1.
,
(2)
(19) , (18)
(2)
, ,
(1)
(12)
, (12)
(3) (3)
(4) ,
(1)
(4)
(6)
(9) (10)
(3) (3)
(4) (9)
, (1) (3)
(9)
(6),
(8)
(6) ,
(1) (6)
(8) (6)
(6)
(5) ,
(1) (6)
(8) (6) (5)
(11)
Technology Information
78 2005
0445303
-
.
2.
.
79
-
1.
40~50%
50%
.
,
(1) (2)
,
(2)
(10)
, (2) (10)
(8) , (8)
(9) ,
(9)
.
2.
40~50%
50%
.
Technology Information
80 2005
0441285
-
81
-
1.
.
,
.
.
, 1 2
,
.
2.
, 1
2
,
. Technology Information
82 2005
0437275
-
83
-
Technology Information
84 2005
1.
Crack
.
( )
2.
, /
.
3. 1
1)
20mm Back Up
Sealant
Crack .
()
P113
[ ]
[ ]
CON'C SLAB orBEAM
CRACK
-
85
2) Crack V U Cutting
.
4. 2
1)
20mm Back Up
Sealant
Crack .
2) Crack Lath
Chopping
.
3) 20mm .
5. 3
1)
20mm Back
Up Sealant
Crack .
2) Crack THK 9 mm
.
3) 20mm .
[ V Cutting ]
[ ]
[ 1 ]
: P113
: P113
BLACK UP SEALANT
COMPRESSIBLEFILLER
V-CUTTING ( or )
[ 2 ]
BLACK UP SEALANT
COMPRESSIBLE FILLER
CRACK
LATH
-
6. 4
1)
20mm Back
Up Sealant
Crack .
2) Crack Joint
Taping Fabric
.
3) Fabric ,
.
Technology Information
86 2005
[ 3 ]
BLACK UP SEALANT
COMPRESSIBLE FILLER
THK9
CRACK
[ 4 ]
BLACK UP SEALANT
COMPRESSIBLEFILLER
JOINTTAPING FABRIC
CRACK
1. / / 2004. 2
-
87
JO
INT
JOINT
()
1.
.
2.
1)
.
2)
.
3. 3.1
1) Expansion Joint Control
Joint 3,000mm
Expansion Joint Span
3,000mm
Cutting .
2) Wire Mesh
Expansion Joint
Control Joint
3,000mm .
3.2
1) Expansion Joint
- :
-
Technology Information
88 2005
- : 10mm (Joint Filler:
, 0.03 )
- : 3,000~4,500mm
- Caulking: 10x10 Sealant,
2) Parapet Expansion Joint
- Parapet 200mm,
200mm
- : 25mm (Joint Filler:
, 0.03 )
- Caulking: 25x25 Sealant,
3) Control Joint
- : 1/2 (
)
- Cutting : Sealing 6mm,
Sealing 3mm (
Cutting Blasting
Cutting
Sealing , )
- Cutting :
(: 1~4, :4~12)
- ,
- : 3~4m 30
(ACI 302.1R)(ex.
200mm 6m )
- : :
1:1.25
- 60~90cm
Cutting
- :
-
89
JO
INT
( 2004.3)
-
1.
,
Detail .
2.
1) .
2)
Technology Information
90 2005
()
-
91
3. [CASE 1] :
:
[CASE 2] :
:
-
[CASE 3] : ( )
:
[CASE 4] :
:
Technology Information
92 2005
-
[CASE 5] :
:
4.
93
-
5.
5.1 ( )
1)
(9)
2) ,
(
)
( )
.
* 2003 1 ,
Technology Information
94 2005
-
1.
Duct
Detail .
2.
1)
.
2)
Duct
.
95
,
DUC
T
DETA
IL
,DUCT DETAIL
()
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-
3.
3.1 Shaft
1)
2)
: .
: 2
, Sleeve 150
.
: Casing ,
.
:
,
. ,
.
:
Maintenance
, (
) .
: ,
. ()
: Space
,
.
3)
Technology Information
96 2005
-
4) DUCT
) Sleeve
,
, LEVEL
RC ,
Sleeve ,
.
3-2 Shaft
1)
97
,
DUC
T
DETA
IL
-
Technology Information
98 2005
2)
Sleeve 300
.
Reducer
.
Sleeve
.
3) DUCT,
1) / / 2004.22) () / / 2003.83) , / ()
-
2.
99
()
1.
Drop Ceiling
.
-
3.
150
Technology Information
100 2005
-
2.
1) (Joint)
.
Sealant
.
2)
Back-Up 3
,Sealant
.
101
WEA
THER SEA
L JOIN
T
DETA
IL
WEATHER SEAL JOINT DETAIL
()
1.
Weather
Seal Joint
Detail .
[ 1]
-
3.
3.1
1)
6 .
2)
6
50
Joint .
Joint(W) = E / M 100 + T
E: , ()
= *4)
(100)
M: ( )*5)
T: (CONC: 4, : 3
)
3) Joint Joint 2/3 (:
20 15)
,
6
20
.
4) Back-up
3
, Joint ,
.
5) Bond Breaker Tape Joint
Back-Up
.Technology Information
102 2005
[ 2]
-
3.2 (Conventional Moving Weather seal)
3.3 (Moving Corner Joint)
3.4 (Remedial Joint)
103
WEA
THER SEA
L JOIN
T
DETA
IL
1)
.
2)
.
1) A C 6 .
2) A B 2:1 .
3) .
4) B 12 .
1) A B 6.
2) .
3) Bond Breaker Tape
.
1) A B,C 6 .
2) Bond
Breaker Tape .
3) .
-
3.5 (Splice Joint)
1) / / 2004.22) / / 1997.83) / / 1995. 74)
Technology Information
104 2005
1) A 6
.
2) B 3
, .
3) Bond Breaker Tape .
1) A 6 .
2) B 36 .
3) Bond Breaker Tape
.
1) 3
.
2) .
3) Bond Breaker Tape /
4)
.
1) A 6 .
2) B 36 .
3) Bond
Breaker Tape .
4) 6
.
5) (%) , , .
-
1.
Curtain Wall
Al. Bar
.
2.
1) 3mm Al. Sheet 4
Bar .
2) 300x195mm Al. Bar
Sub-Frame , Bar
2
.
3) Al. Bar
Transom
.
105
Ba
r
Bar
()
-
3.
1) Al. BAR
Bar .
2) Bar
.
3) Curtain Wall Module
Joint Stainless Steel Plate
Al. Bar
.
Technology Information
106 2005
-
1.
,
Detail .
2.
1)
.
10~15mm ,
40~100mm
.
2) Frame
107
DETA
IL - 2
DETAIL-2
()
[ ]
-
3.
1)
(
)
.
2)
.
3)
5 (Groove) .
Technology Information
108 2005
[ ]
[ ]
-
1) 38p, 47p / / 2004.2
109
DETA
IL - 2
[ ]
-
2.
: P.64 : P.7
Technology Information
110 2005
CONTROL JOINT DETAIL
()
1) 2)
1.
CONTROL
JOINT [ DETAIL] [ ]
.
-
3.
1)
- [CONTROL JOINT
] CONTROL
JOINT DETAIL
.
2)
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CONTROL JOINT .
111
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- Detail Control Joint
.
4. Control Joint (: Architectural Graphic Standards)
1) JOINT 18m
.*
2) JOINT .
3) JOINT .
4) JOINT .
5) JOINT .(
1.8m JOINT
.)
6) CONTROL JOINT , ,
CONTROL JOINT
.
Technology Information
112 2005
* A. 10m ,
B. 9m 6 .
-
1.
,
Open Joint
Detail ,
.
2.
1)
.
2)
,
.
3)
,
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3.
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2)
113
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.
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(2)
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* : (L:80 x h:30 x t:10)
.
.
FILLER . [ 2 ] , .
Technology Information
114 2005
[OPEN JOINT ]
[ ]
[ #1] Modulock Pedestal (Alumasc)
[ #2]SUPPORT SET (TERRA)
[ ]
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FILLER
-
4.
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.
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FILLER .
3) 2F ()
Base Panel
4) 101 Sunken Garden ()
( #1)
115
OPEN
JOIN
T
[] [ ]
[ ] []
-
Technology Information
116 2005
1.
( Rock Anchor)
-
117
2.
-
: 1) 2) Jacking Force = (P) + Loss ( + Relaxation
) : (P) 1.23) , , .
: 1) ROCK ANCHOR (2003, )2) GROUND ANCHORS (2004, )
Technology Information
118 2005
-
119
1.
1.1 Collins Prestress Concrete Structures
- :
. (
, )
. ,
.
()
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(MPa)
18 21 27 30
0.35 0.38 0.43 0.45
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-
2.2
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2. (-)
2. 1
- : 0.38% ( )
Technology Information
120 2005
(MPa)
18 21 27
D6 0.40 (0.60) 0.43 (0.72) 0.45 (0.74)
D10 0.49 (0.87) 0.52 (0.92) 0.55 (0.97)
D13 0.57 (0.99) 0.60 (1.05) 0.63 (1.10)
D16 0.64 (1.10) 0.67 (1.17) 0.71 (1.22)
-
2. 2 ( 0.5% )
121
1. Prestressed Concrete Structure (1991, Michael P. Collins)
2. (2001, )
-
1.
1) PS Jacking force
2)
3) , , , ,
4)
2.
1)
2) Jacking Force 20~35%
Technology Information
122 2005
.
()
(Instantaneous loss)
(Elastic Shortening)
(Frictional Loss)
(Anchorage Loss)
(Sheath)
(Time-dependent loss)
(Shrinkage)
(Creep)
(Relaxation)
-
123
3. ( )1) AASHTO (American Association of State Highway and Transportation Officials)
2) PTI (Post Tensioning Institute)
* (, , ,
)
- 315
- 245
225 231
168 175
155 160
Stress-relieved strand
Low-relaxation strand
Stress-relieved strand
Low-relaxation strand
Bar
fck=35MPafck=28MPa
PS()
PS &(joist)
PS (Stress-relieved Grade 270 strand)
PS (Stress-relieved Grade 240 wire)207 241
PS Bar 138 172
Low-relaxation strand (Grade270) 103 138
(MPa)
(MPa)
-
4. (Frictional Loss)
1) (Curvature friction) (Wobble friction)
.
Technology Information
124 2005
k() () -
-
5. (Anchorage Loss)
125
: 2003 ()
Prestressed Concrete (Edward G. Nawy)
Prestressed Concrete Structure (Michael P. Collins / Denis Mitchell)
()
-
Technology Information
126 2005
1. (V0)
C 10m 10 100
2.
.
,
.
()
-
127
1. 2000 , (), 2001
-
Technology Information
128 2005
8 18 , " "
. ,
, ,
.
Door Hardware
9 9 , 'Door Hardware Check Point'
. ITEM
ITEM Door Hardware
, Door Hardware , /
Check Point .
IAQ
10 12 , IAQ
. (
), ( ),
( )
.
NATM
10 27 TA , NATM .
, ,
, .
10 28 , (SC) .
SC , .
-
129
11 5 , .
/ .
11 8 , Bearing
.
.
11 8 2 , "
" .
.
11 5 2 , "
/ " .
.
11 17 ,
. , , .
-
.
.
2005 ( 53)
1) :
2) :
/ ,
-
-
- ,
-
3) : A4 10Page
4) :
5) :
TEL 02-2145-6458
FAX 02-2145-6470
2005 3 11
262
02-2145-5114
T. 02-554-6969
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