• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.580-583
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• 2002

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

• Steel and Composite Structures
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• v.43 no.2
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• pp.185-200
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• 2022

A Closed-form solution for dynamic response of a functionally graded (FG) nonlocal nanobeam due to action of moving harmonic load is presented in this paper. Due to analyzing in small scale, a nonlocal elasticity theory is utilized. The governing equation and boundary conditions are derived based on the Euler-Bernoulli beam theory and Hamilton's principle. The material properties vary through the thickness direction. The harmonic moving load is modeled by Delta function and the FG nanobeam is simply supported. Using the Laplace transform the dynamic response is obtained. The effect of important parameters such as excitation frequency, the velocity of the moving load, the power index law of FG material and the nonlocal parameter is analyzed. To validate, the results were compared with previous literature, which showed an excellent agreement.

• Journal of Korean Tunnelling and Underground Space Association
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• v.4 no.3
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• pp.175-184
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• 2002

Ground reaction curve is very useful information for estimating the installation time of the tunnel support. The ground reaction curve can be estimated by analytical closed form solutions derived in case of circular section and isotropic stress condition. The nature of the ground reaction, however, depends significantly on tunnel configurations. Nevertheless, few purely analytical and experimental studies of this problem due to tunnel configurations appear to have been carried out. Therefore, it is necessary to investigate the influence of tunnel configurations in order to use simply in practical design. This paper describes a numerical study for the intial elastic displacement in the ground reaction curve due to configuration of tunnel excavation. In order to evaluate the applicability of analytical closed form solution in practical design, the parametric studies were carried out by numerical analysis in elastic tunnel behaviour. In the studies, S value, namely configuration factor, defined as the ratio between tunnel height (b) and width (a), varies between 0.5 and 3.0, initial ground vertical stress varies between 5~30 MPa for each S values. The results indicated that the self-supportability of ground is larger in the ground having low S value. It, however, is suggested that the applicability of closed form solution may not be adequate to determine directly the installation time of the support and self-supportability of ground. It should be necessary to perform the additional numerical analysis.

• ETRI Journal
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• v.11 no.4
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• pp.98-104
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• 1989

Closed form solution of nonlinear 2-DEG concentration formula is proposed. This allows us to model continuous 2-DEG charge concentration as the function of gate voltage covering subthreshold region of the I-V curves. Comparisons of the Ids-Vgs characteristics and transconductance with the measured data were performed to show the accuracy of the proposed model. This way we have completely closed form I-V characteristics in subthreshold, triode and saturation region incorporating accurate charge control mechanism for HEMTs.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.603-608
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• 2007

In the conventional AOA(angle-of-arrival) positioning utilizing reverse-link wireless channel, each sensor should be equipped with an array antenna to measure the incident angle of signal transmitting from a tag. To perform the complicated signal processing for angle measurements, sensor size and its power consumption will be large. In some applications like mobile robot location, there exists no strict restriction in tag size or in power consumption. Rather, it is desirable that the sensor would be as small as possible. This paper presents a new AOA positioning method utilizing forward-link channel. Under the assumption that the mobile robot is operating on the flat surface, the measurement model for FLAOA(tiJrward-link AOA) is derived first. Two kinds of position estimation algorithms using FLAOA measurements are proposed; Gauss-Newton method and closed-fonn solution method. With the proposed methods, we can ohtain the attitude of robot as well as its position. Positioning performance of proposed methods is compared by computer simulation. Simulation results show that the closed-form solution method using FLAOA measurements is suitable for indoor robot positioning.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.8 s.173
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• pp.118-127
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• 2005

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.363-368
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• 1995

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

• Computers and Concrete
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• v.2 no.1
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• pp.55-77
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• 2005

The closed form solution of the equilibrium equations in the ultimate design of reinforced concrete sections under biaxial bending is presented. The stresses in the materials are described by the Model Code 1990 equations. Computation of the integral equations is performed generally in terms of all variables. The deformed shape of the section in the ultimate conditions is defined by Heaviside functions. The procedure is convenient for the use of mathematical manipulation programs and the results are easily included into nonlinear analysis codes. The equations developed for rectangular sections can be applied for other sections, such as T, L, I for instance, by decomposition into rectangles. Numerical examples of the developed model for rectangular sections and composed sections are included.

• Structural Engineering and Mechanics
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• v.20 no.1
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• pp.45-67
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• 2005

This paper presents a new approach to predict the racking load-displacement response of plasterboard clad walls found in Australian light-framed residential structures under monotonic racking load. The method is based on a closed-form mathematical model, described herein as the 'Modularised' Closed-Form Mathematical model or MCFM model. The model considers the non-linear behaviour of the connections between the plasterboard cladding and frame. Furthermore, the model is flexible as it enables incorporation of different nailing patterns for the cladding. Another feature of this model is that the shape of stud deformation is not assumed to be a specific function, but it is computed based on the strain energy approach to take account of the actual load deformation characteristics of particular walls. Verification of the model against the results obtained from a detailed Finite Element (FE) model is also reported. Very good agreement between the closed form solution and that of the FE model was achieved.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.457-462
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• 2011

In this study, a simplified design procedure for friction dampers of a multi-story structure in order to reduce seismic response is proposed. To get insight for control effect of the structure with friction dampers is difficult, because of a nonlinear characteristic by a friction damper. Since a control force of a friction damper is influenced by coupling velocity between floors, adjoining modes are coupled. Thus structural response are derived by assuming steady-state response in resonance. As it is impossible that an exact solution is obtained for seismic load, first, a closed form solution can be achieved under harmonic vibration. Second, to convert a three-story building into a single-degree-of-freedom(SDOF) structure, modal analysis is performed. Third, an equivalent damping ratio is derived with utilizing closed form solution. And response reducing factor is proposed by it. Finally, friction force of a damper is designed for using response reducing factor, and then designed dampers are verified for seven seismic data. The nonlinear analysis results confirm the validity of the proposed procedure.