• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• 대한전자공학회논문지TC
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• 제41권6호
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• pp.79-86
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• 2004

정확한 closed-form 근린함수 계산방법은 공간영역 그린함수에 포함된 Sommerfeld 적분의 계산시간을 줄이기 위해 기존에 이용되어온 복소 영상법(Complex image method)과 2단계 근사화법(Two-level approach)에 비해 훨씬 적은 오차를 갖는다. 본 논문에서는 정확한 closed-form 그린함수 계산방법을 일반적인 전원을 포함하는 평판구조에 적용하는 방법을 제안하였다.

• Structural Engineering and Mechanics
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• 제66권3호
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• pp.387-397
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• 2018

In this paper, a general closed-form solution for evaluating the dynamic behavior of a Timoshenko beam on elastic foundation under a moving harmonic line load is formulated in the frequency-wavenumber domain and in a moving coordinate system. It is found that the characteristic equation is quartic with real coefficients only, and its poles can be presented explicitly. This enables the substitution of these poles into Cauchy's residue theorem, leading to the general closed-form solution. The solution can be reduced to seven existing closed-form solutions to different sub-problems and a new closed-form solution to the subproblem of a Timoshenko beam on an elastic foundation subjected to a moving quasi-static line load. Two examples are included to verify the solution.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2002년도 종합학술발표회 논문집 Vol.12 No.1
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• pp.109-112
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• 2002

So far, the closed-form Green's functions have been derived almost for th open microstrip structures. In the present study, closed-form Green's functions for a top-covered microstrip structure are derived. And an effect of top-cover is discussed in comparison with open structure.

• Structural Engineering and Mechanics
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• 제38권2호
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• pp.157-169
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• 2011

In this paper the time-dependent closed-form static solution of the suspended pre-stressed biconcave and biconvex cable trusses with unmovable, movable and elastic or viscoelastic yielding supports subjected to various types of vertical load is presented. Irvine's forms of the deflections and the cable equations are modified because the effects of the rheological behaviour needed to be incorporated in them. The concrete cable equations in the form of the explicit relations are derived and presented. From a solution of a vertical equilibrium equation for a loaded cable truss with rheological properties, the additional vertical deflection as a time-function is determined. The time-dependent closed-form model serves to determine the time-dependent response, i.e., horizontal components of cable forces and deflection of the cable truss due to applied loading at the investigated time considering effects of elastic deformations, creep strains, temperature changes and elastic supports. Results obtained by the present closed-form solution are compared with those obtained by FEM. The derived time-dependent closed-form computational model is used for a time-dependent simulation-based reliability assessment of cable trusses as is described in the second part of this paper.

• Journal of electromagnetic engineering and science
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• 제1권2호
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• pp.156-160
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• 2001

Very convenient equivalent circuits fur the design of bandpass filters with an attenuation pole in the lower or upper stopband are provided together with necessary closed-form solutions. The proposed approach gives us much flexibility and simplifies the design of inserting attenuation poles.

• Coupled systems mechanics
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• 제2권2호
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• pp.127-146
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• 2013

A closed-form solution for a fluid-structure system is presented in this article. The closed-form is used to evaluate the finite element method results through a numeric example with consideration of high frequencies of excitation. In the example, the structure is modeled as a cantilever beam with rectangular cross-section including only shear deformation and the reservoir is assumed semi-infinite rectangular filled with compressible fluid. It is observed that finite element results deviate from the closed-form in relatively higher frequencies which is the case for the near field earthquakes.

• Structural Engineering and Mechanics
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• 제40권1호
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• pp.121-148
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• 2011

Closed form solutions for equilibrium and flexibility matrices of the Mindlin-Reissner theory based eight-node rectangular plate bending element (MRP8) using Integrated Force Method (IFM) are presented in this paper. Though these closed form solutions of equilibrium and flexibility matrices are applicable to plate bending problems with square/rectangular boundaries, they reduce the computational time significantly and give more exact solutions. Presented closed form solutions are validated by solving large number of standard square/rectangular plate bending benchmark problems for deflections and moments and the results are compared with those of similar displacement-based eight-node quadrilateral plate bending elements available in the literature. The results are also compared with the exact solutions.

• Structural Engineering and Mechanics
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• 제69권6호
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• pp.693-698
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• 2019

In this study, the problem of axisymmetric deformation of prestressed $F{\ddot{o}}ppl-Hencky$ membrane under constrained deflecting was analytically solved and its closed-form solution was presented. The small-rotation-angle assumption usually adopted in membrane problems was given up, and the initial stress in membrane was taken into account. Consequently, this closed-form solution has higher calculation accuracy and can be applied for a wider range in comparison with the existing approximate solution. The presented numerical examples demonstrate the validity of the closed-form solution, and show the errors of the contact radius, profile and radial stress of membrane in the existing approximate solution brought by the small-rotation-angle assumption. Moreover, the influence of the initial stress on the contact radius is also discussed based on the numerical examples.

• 한국전자파학회논문지
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• 제15권5호
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• pp.499-508
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• 2004

마이크로스트립 구조체를 해석하는데 있어, 행렬 요소를 해석적으로 계산할 수 있는 효율적인 모멘트법이 제안된다. 본 논문의 모멘트법에서는 공간영역 그린함수로 Bessel 함수의 반 무한구간 정적분에 관한 공식에 근거하여 유도된 새로운 형태의 closed-form 그린함수를 사용한다. 본 논문의 모멘트법을 사용할 경우 기존의 모멘트법의 사용에 비해, 계산량 및 계산 속도와 같은 수치계산 효율 측면에서 약 4배 정도로 개선됨을 알 수 있었다. 본 논문이 제안하는 방법의 타당성을 확인하기 위하여 몇 가지 수치해석 결과를 제시한다.