• 소음진동
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• 제6권1호
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• pp.27-34
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• 1996

In this paper, design sensitivity of vibration displacement and acceleration is computed and design sensitivity, the derivative information of responses with respect to design perameters, is used as a design guidance tool to reduce the vibration. First, the harmonic vibration analysis of deck and simplified ship structures is performed by finite element method and secondly continuum disign sensityivity for excessive dynamic response is computed by continuum method. Both the direct and modal frequency response methods for the finite element analysis are adopted. Sensitivities of structural components such as upper plate, side wall, bilge, bottom plate are compared and the reductionof vibration is obtained by the proper increase of thickness of each component.

• International Journal of Concrete Structures and Materials
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• 제6권2호
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• pp.101-110
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• 2012

This paper focuses on the finite element (FE) response sensitivity and reliability analyses considering smooth constitutive material models. A reinforced concrete frame is modeled for FE sensitivity analysis followed by direct differentiation method under both static and dynamic load cases. Later, the reliability analysis is performed to predict the seismic behavior of the frame. Displacement sensitivity discontinuities are observed along the pseudo-time axis using non-smooth concrete and reinforcing steel model under quasi-static loading. However, the smooth materials show continuity in response sensitivity at elastic to plastic transition points. The normalized sensitivity results are also used to measure the relative importance of the material parameters on the structural responses. In FE reliability analysis, the influence of smoothness behavior of reinforcing steel is carefully noticed. More efficient and reasonable reliability estimation can be achieved by using smooth material model compare with bilinear material constitutive model.

• Structural Engineering and Mechanics
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• 제62권5호
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.385-389
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• 2003

To make high speed spindle system work properly, sensors with outstanding resolution and dynamic characteristics are essential. An optical fiber displacement sensor is based on simple principles. Electrical signal responds to the optical flux change due to the displacement change between a target and a sensor probe. In this paper, the performance of optical fiber displacement sensor has been investigated according to properties of optical fiber Firstly, optical loss has been measured before and after polishing optical fiber endface. Secondly, allowance of optical fiber bending has been tested. thirdly sensitivity and linear range of the sensor has been found out according to the shape of cross section of optical fiber.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• 대한전기학회논문지
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• 제38권11호
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• pp.941-949
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• 1989

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with environment. In part 1, we focus on the input output relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot (or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to and design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Structural Engineering and Mechanics
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• 제77권2호
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• pp.231-243
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• 2021

In this paper, a dynamic response mapping model of the wheel-rail system is established by using the support vector regression (SVR) method, and the hierarchical safety thresholds of the subgrade void are proposed based on the reliability theory. Firstly, the vehicle-track coupling dynamic model considering the subgrade void is constructed. Secondly, the subgrade void area, the subgrade compaction index K30 and the fastener stiffness are selected as random variables, and the mapping model between these three random parameters and the dynamic response of the wheel-rail system is built by using the orthogonal test and the SVR. The sensitivity analysis is carried out by the range analysis method. Finally, the hierarchical safety thresholds for the subgrade void are proposed. The results show that the subgrade void has the most significant influence on the carbody vertical acceleration, the rail vertical displacement, the vertical displacement and the slab tensile stress. From the range analysis, the subgrade void area has the largest effect on the dynamic response of the wheel-rail system, followed by the fastener stiffness and the subgrade compaction index K30. The recommended safety thresholds for the subgrade void of level I, II and III are 4.01㎡, 6.81㎡ and 9.79㎡, respectively.

• 한국전산구조공학회논문집
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• 제28권4호
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• pp.425-431
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• 2015

본 논문에서는 균열 진전문제에 대하여 페리다이나믹스 이론을 이용하여 설계민감도 해석 및 구조 최적설계를 수행하였다. 페리다이나믹스는 해의 불연속성을 다루기 어려웠던 기존의 연속체 이론에 비해 균열 진전문제와 같은 불연속성을 가지는 문제를 자연스럽게 표현할 수 있다는 장점을 가지고 있다. 최적설계를 진행하기 위하여 애조인 변수법으로 설계민감도를 유도하였다. 특히 균열이 진전되더라도 애조인 변수법으로 계산된 변위장과 변형에너지에 대한 설계민감도 값은 유한차분법과 비교하여 매우 정확하고 효율적임을 보였다. 이를 바탕으로 간단한 인장응력 하의 균열진전 문제에 대하여 균열의 분기가 발생하는 위치를 조절하기 위하여 정해진 시간구간에서 변형에너지 값을 줄이는 방향으로 최적설계를 수행하였다. 최적의 재료분포로 해석을 수행한 결과 균열의 분기점을 늦출수 있음을 확인하였다.

• 한국지진공학회논문집
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• 제11권1호
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• pp.1-9
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• 2007

본 연구는 지진하중을 받는 콘크리트 표면차수벽형 석괴댐(CFRD)의 정상부 변위에 대한 사력재료 주요물성의 민감도를 정량적으로 분석하는데 그 목적이 있다. 이를 위해 현재 운영 중인 국내 CFRD 형식의 D댐에 대해 2가지 지진파, 각 지진파에 대해 2가지 설계진도, 사력재료에 대해 수행된 대형삼축압축시험 결과로부터 얻어진 물성값을 조합하여 만든 물성값이 다른 해석단면 27개를 작성, 총 108개 해석단면에 대한 동적 수치해석을 수행, 그 결과를 이용한 대역적 민감도분석을 수행하였다. 민감도분석 결과, 지진하중 작용 시 댐 정상부 침하량은 입력지진의 종류와 설계진도 크기에 상관없이 절대적으로 사력재료 전단탄성계수에만 영향을 받았으며 댐 정상부 횡변위의 경우에는, 사력재료 전단탄성계수의 영향이 크나 그 영향의 정도는 침하량에 미치는 정도에 비해 상대적으로 작으며, 침하량과는 달리 지진파의 종류와 크기에 따라 차이를 보였다. 본 연구결과에 한해 사력재료의 마찰각은 지진하중에 의한 CFRD 정상부 변위에는 전혀 영향을 주지 않는 것으로 나타났다.

• 대한기계학회논문집
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• 제13권1호
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• pp.29-39
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• 1989

본 논문에서는 우선 밸브 기구의 동적 특성을 보다 정교하게 묘사하기 위해서 4 자유도 집중 질량 모델을 세우고 시뮬레이션 결과와 실험 결과를 비교하여 실험을 더 잘 묘사할 수 있도록 모델을 개선하였다. 그리고 수립된 모델을 사용하여 밸브 변위, 속도, 가속도 특성 및 밸브 기구의 작동 오차를 정의하였다. 이 평균 자승 오차를 최소함으로써 중어진 캠 변위는 크게 변화시키지 않으면서 가속도 및 속도를 최소화한 캠을 설계하였다.