• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.790-798
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• 2011

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

• Computational Structural Engineering
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• v.9 no.1
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• pp.133-139
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• 1996

In this paper, an approximate method is developed to obtain the natural frequencies of the out of plane vibration of circular curved beams. The governing differential equations are derived using the dynamic equilibrium equations with the Timoshenko theory, and solved numerically. The Runge-Kutta method and Regula-Falsi method are used to integrate the differential equations and to determine the natural frequencies, respectively. In numerical examples, the hinged-hinged and clamped-clamped end constraints are considered. For each case, the four lowest natural frequencies are reported as functions of four non-dimensional system parameters.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.712-717
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• 2000

The main purpose of this paper is to present both the fundamental and some higher natural frequencies of axially loaded Timoshenko beams resting on the elastic foundation. The non-dimensional differential equation governing the free vibrations of such beam is derived in which the effects of rotatory inertia and shear deformation are included. The Improved Euler method and Determinant Search method are used to perform the integration of the differential equation and to determine the natural frequencies, respectively. The hinged-hinged, hinged-clamped and clamped-clamped end constraints are applied in numerical examples. The relations between frequency parameters and both the foundation parameter and slenderness ratio are presented in figures. The effect of cross-sectional shapes is also investigated.

• Journal of KSNVE
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• v.9 no.6
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• pp.1193-1199
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• 1999

This paper deals with the free vibrations of circular curved beams with thin-walled cross-section. The differential equation for the coupled flexural-torsional vibrations of such beams with warping is solved numerically to obtain natural frequencies and mode shapes. The Runge-Kutta and determinant search methods, respectively, are used to solve the governing differential equation and to compute the eigenvalues. The lowest three natural frequencies and corresponding mode shapes are calculated for the thin-walled horizontally curved beams with hinged-hinged, hinged-clamped, and clamped-clamped end constraints. A wide range of opening angle of beam, warping parameter, and two different values of slenderness ratios are considered. Numerical results are compared with existing exact and numerical solutions by other methods.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.10a
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• pp.29-36
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• 2003

This paper deals with the free vibration analysis of horizontally circular mea beams with variable cross sectional width on elastic foundations. Taking into account the effects of rotatory inertia and shear deformation differential equations governing the free vibrations of such beams are derived, in which the Whlkler foundation model is considered as the elastic foundation. The variable width of beam is chosen as the linear equation. The differential equations are solved numerically to calculate natural frequencies. In numerical examples, the curved beam with the hinged-hinged, hinged-clamped, clamped-hinged and damped-clamped end constraints are considered The parametric studies are conducted and the lowest four frequency parameters are reported in figures as the non-dimensional forms.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.189-196
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• 1996

Vibration of a beam translating over supports in vertical motion is investigated in this paper. Equations of motion are formulated using the virtual work principle by regarding the supports as kinematical constraints imposed on an unrestrained beam and by discretizing the beam via the assumed mode method. Differential-algebraic equations of motion are derived and reduced to differential equations in independent generalized coordinates by the generalized coordinate partitioning method. Geometric stiffness of the beam due to translating motion is considered and how the geometric stiffness of beam affects dynamic stability is also investigated. Instability of the beam. in various conditions is also investigated using Floquet theory and then the results are verified through the dynamic response analysis. Results of numerical simulation are presented for various prescribed motions of the beam.

• Advances in Computational Design
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• v.4 no.3
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• pp.197-210
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• 2019

Motion generation of a four-bar linkage is a type of mechanism synthesis that has a wide range of applications such as a pick-and-place operation in manufacturing. In this research, the use of meta-heuristics for motion generation of a four-bar linkage is demonstrated. Three problems of motion generation were posed as a constrained optimization probably using the weighted sum technique to handle two types of tracking errors. A simple penalty function technique was used to deal with design constraints while three meta-heuristics including differential evolution (DE), self-adaptive differential evolution (JADE) and teaching learning based optimization (TLBO) were employed to solve the problems. Comparative results and the effect of the constraint handling technique are illustrated and discussed.

• Journal of the Korean Mathematical Society
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• v.61 no.1
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• pp.41-63
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• 2024

In this paper, we study complete Riemannian immersions into a semi-Riemannian warped product obeying suitable curvature constraints. Under appropriate differential inequalities involving higher order mean curvatures, we establish rigidity and nonexistence results concerning these immersions. Applications to the cases that the ambient space is either an Einstein manifold, a steady state type spacetime or a pseudo-hyperbolic space are given, and a particular investigation of entire graphs constructed over the fiber of the ambient space is also made. Our approach is based on a parabolicity criterion related to a linearized differential operator which is a divergence-type operator and can be regarded as a natural extension of the standard Laplacian.

• Proceedings of the Korean Society of Agricultural Engineers Conference
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• 2001.10a
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• pp.198-201
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• 2001

This paper deals with the Automatic Analysis of Continuous Beams with Variable Cross-Section. Based on the principle of superpositon and the method of consistent deformations, the governing differential equation is derived for the deflection and stress resultants of such continuous beam. The effects of variable load conditions, the end constraints on the deflection and the stress resultants are analyzed. It is expected that the results obtained herein can be used practically in the structural engineering.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.926-930
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• 1993

An efficient method of formulating the equations of motion of multibody systems is presented. The equations of motion for each body are formulated by using Newton-Eulerian approach in their generic form. And then a transformation matrix which relates the global coordinates and relative coordinates is introduced to rewrite the equations of motion in terms of relative coordinates. When appropriate set of kinematic constraints equations in terms of relative coordinates is provided, the resulting differential and algebraic equations are obtained in a suitable form for computer implementation. The system geometry or topology is effectively described by using the path matrix and reference body operator.