• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• International Journal of Concrete Structures and Materials
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• v.4 no.1
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• pp.25-36
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• 2010

This paper presents the influence of various flexural strengthening design criteria specified by three important design guidelines (ACI440, TR55, FIB14) on the resulting strength, ductility and conservativeness of FRP strengthened RC elements. Various generalised mathematical relations in non-dimensional form are presented that can be employed to develop design aids for the FRP-strengthening process. A design methodology is prescribed based on these equations enabling the designer to optimally and intuitively incorporate sufficient ductility while designing for strength. In order to better interpret conservativeness within design codes, four distinct levels of embedded conservativeness are identified, which cover the entire range of sources of conservativeness. Finally, a detailed parametric study is presented, using the proposed design equations and methodology, to determine the influence of each of these four levels of conservativeness on final design solutions. Specific criteria that are useful while calibrating design guidelines are also presented.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_1
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• pp.141-148
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• 2022

In this paper, the evaluation equations proposed by Tange et al. and Ando et al. were used to evaluate the threshold stress intensity factor ∆K^R_th(s) and fatigue limit ∆𝜎^R_wc, according to the small crack of offshore structural steel F690. Despite the differences in concept and shape of the two equations, the ∆K^R_th(s) and ∆𝜎^R_wc proved completely consistent. It is possible to use these equations to evaluate the dependence of the crack length on the ∆K^R_th(s) and ∆𝜎^R_wc of structures made of all steel grades. With these equations, the characteristics of microcracks can be quantitatively evaluated, and the safety and reliability of the structure can be secured.

• 한국전산유체공학회:학술대회논문집
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• 2000.10a
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• pp.46-53
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• 2000

To improve the performance at all design points, multi-point optimization method is implemented for the nose fairing shape design of space launcher. The response surface method is used to effectively reduce the huge computational loads during the optimization process. The drag is selected as the objective function, and the surface heat transfer characteristics, and the internal volume of the nose fairing ate considered as design constraints. Full Wavier-Stokes equations are selected as governing equations. Two points drag minimization, and two points drag / heat flux optimization were successfully performed and configurations which have good performance for the wide operation range were derived. By considering three design points, the space launcher shape which undergoes the least drag during whole flight mission was designed. For all the design cases, the constructed response surfaces show good confidence level with only 23 design points with the proper stretching of the design space.

• Journal of Power System Engineering
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• v.21 no.3
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• pp.66-73
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• 2017

In order to identify the design parameters of a hydraulic engine mount with a nonlinear characteristics, an experimental method has been used generally. The method takes a considerable time and expense because of preparing an experimental apparatus, conducting a test, and analyzing results. Therefore, this paper presents a simple method to identify the design parameters of a cylindrical hydraulic engine mount, and optimize the design parameters. The physical model and mathematical equations of the mount were derived, and values of the design parameters of the mount were identified by optimization method with minimizing difference between the analytical results with the equations and the experimental results. This method is more simpler than the conventional experiment method and identify successfully the design parameters. In addition, the technique can optimize the design parameters of the mount to improves the isolation performance of the mount.

• International Journal of Concrete Structures and Materials
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• v.8 no.2
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• pp.117-128
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• 2014

Numerous investigations of RC beams strengthened in shear with externally-bonded (EB) fibre-reinforced polymer (FRP) sheets, plates and strips have been successfully conducted in recent years. These valuable studies have highlighted a number of influencing parameters that are not captured by the design guidelines. The objective of this study was: (1) to highlight experimentally and analytically the influential parameters on the shear contribution of FRP to RC beams strengthened in shear using EB FRP sheets and strips; and (2) to develop a set of transparent, coherent, and evolutionary design equations to calculate the shear resistance of RC beams strengthened in shear. In the experimental part of this study, 12 tests were performed on 4,520-mm-long T-beams. The specimens were strengthened in shear using carbon FRP (CFRP) strips and sheets. The test variables were: (1) the presence or absence of internal transverse-steel reinforcement; (2) use of FRP sheets versus FRP strips; and (3) the axial rigidity of the EB FRP reinforcement. In the analytical part of this study, new design equations were proposed to consider the effect of transverse-steel in addition to other influential parameters on the shear contribution of FRP. The accuracy of the proposed equations has been verified in this study by predicting the FRP shear contribution of experimentally tested RC beams.

• Structural Engineering and Mechanics
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• v.66 no.4
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• pp.423-438
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• 2018

This pioneer study focuses on finite element modeling and numerical modeling of three types of Reinforced Concrete Haunched Beams (RCHBs). Firstly, twenty RCHBs, consisting of three types, and four prismatic beams which had been tested experimentally were modeled via a nonlinear finite element method (NFEM) based software named as, ATENA. The modeling results were compared with experimental results including load capacity, deflection, crack pattern and mode of failure. The comparison showed a good agreement between the results and thus the model used can be effectively used for further studies of RCHB with high accuracy. Afterwards, new mechanism modes and design code equations were proposed to improve the shear design equation of ACI-318 and to predict the critical effective depth. These equations are the first comprehensive formulas in the literature involving all types of RCHBs. The statistical analysis showed the superiority of the proposed equation to their predecessors where the correlation coefficient, $R^2$ was found to be 0.89 for the proposed equation. Moreover, the new equation was validated using parametric and reliability analyses. The parametric analysis of both experimental and predicted results shows that the inclination angle and the compressive strength were the most influential parameters on the shear strength. The reliability analysis indicates that the accuracy of the new formulation is significantly higher as compared to available design equations and its reliability index is within acceptable limits.

• Nuclear Engineering and Technology
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• v.51 no.4
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• pp.949-953
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• 2019

The burnup equation of nuclides is one of the most equations in nuclear reactor physics, which is generally coupled with transport calculations. The burnup equation describes the variation of the nuclides with time. Because of its very stiffness and the need for large time step, this equation is solved by special methods, for example transmutation trajectory analysis (TTA) or the matrix exponential methods where the matrix exponential is approximated by CRAM. However, TTA or CRAM functions well when the flux is constant. In this work, a new method is proposed when the flux changes. It's an improved method compared to TTA or CRAM. Furtherly, this new method is based on TTA or CRAM, and it is more accurate than them. The accuracy and efficiency of this method are investigated. Several cases are used and the results show the accuracy and efficiency of this method are great.

• Korean Journal of Computational Design and Engineering
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• v.14 no.5
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• pp.291-296
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• 2009

This paper presents a post-processing algorithm for 5-axis machines with three rotary axes (3R-2L type). 5-axis machining needs the postprocessor for converting cutter location (CL) data to machine control (NC) data. The existing methods for post-processing use inverse kinematics equations from for-ward kinematics. However in case of 5-axis machines with three rotary axes, the inverse kinematics equations are not induced directly since the forward kinematics equations are non-linear. In order to get the joint values from the forward kinematics equations, previous algorithms use numerical method for the post-processing, which needs searching algorithms with computation time and may result in fail. This paper proposes a geometric method for the post-processing of 3 rotary type 5-axis machines. Our algorithm has three advantages: first, it does not need establishing forward kinematics equations. Second, it is reliable method that eliminates any numerical methods for the inverse kinematics, resulting in the exact solution. Finally, the proposed algorithm can also be applied to 2R-3L type of 5-axis machines.