• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.1 s.118
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• pp.65-71
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• 2007

Tolerance analysis method for natural frequencies of multi-body systems having a equilibrium position is suggested in this paper. To perform the tolerance analysis, the Monte-Carlo Method is conventionally employed. However, the Monte-Carlo Method has some weakness; spending too much time for analysis and having a low accuracy and hard to converge in the dynamical unstable area. To resolve these problems, a tolerance analysis method is suggested in this paper. Sensitivity equations of natural frequencies are derived at the equilibrium position. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivity of natural frequencies can be calculated.

• Journal of Ocean Engineering and Technology
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• v.9 no.2
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• pp.53-60
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• 1995

A multi-leg spread mooring system for floating offshore structures is important, but the multi-leg static analysis is complicated due to the nonlinear behavior of each line and the effect of current which affects each line differently. The pretensioned position of the multi-leg mooring system obtained from the static equilibrium condition changes into a different position due to external loads and current. In this paper, the new position and the static tension at each line are caculated. The relation between the initial static equilibrium position and the new position due to the external loads is expressed in terms of the Taylor's series expansion. The Runge-Kutta $4^{th}$ method is employed in analyzing the 3-dimensional static cable nonlinear equations.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.207-210
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• 1997

In this paper, a hierarchical fuzzy controller for stabilization of the inverted pendulum system is proposed. The facility of this hierarchical fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point (.PHI.$_{VEq}$ ) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference made substantially the inverted pendulum system robust and stable.e.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.83-85
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• 1997

In this paper, a self-tunning fuzzy inference technique for stabilization of the inverted pendulum system is proposed. The facility of this self-tunning fuzzy controller which has swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point(${\phi}_{VEq}$) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed self-tunning fuzzy inference structure made substantially the inverted pendulum system robust and stable.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.304-309
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• 1998

In this paper, a fuzzy controller for stabilization of the inverted pendulum system is propose. The facility of this fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point ($\Phi$veq) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference structur made substantially the inverted pendulum system robust and stable.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1086-1093
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• 2004

The modal characteristics of constrained multibody systems undergoing constant accelerated motions are investigated in this paper. Relative coordinates are employed to derive the equations of motion, which are generally nonlinear in terms of the coordinates. The dynamic equilibrium position of a constrained multibody system needs to be obtained from the nonlinear equations of motion, which are then linearized at the dynamic equilibrium position. The mass and the stiffness matrices for the modal analysis can be obtained from the linearized equations of motion. To verify the effectiveness and the accuracy of the proposed method, two numerical examples are solved and the results obtained by using the proposed method are compared with those obtained by analytical and other numerical methods. The proposed method is found to be accurate as well as effective in predicting the modal characteristics of constrained multibody systems undergoing constant accelerated motions.

• 한국가시화정보학회:학술대회논문집
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• 2006.12a
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• pp.7-10
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• 2006

An experimental study has been conducted to quantitatively characterize the motion of neutrally buoyant particles in 2-dimensional Poiseuille flow through the micron-sized circular capillaries in the range of Re (Reynolds number) $\approx0.1\sim100$. $A{\mu}-PTV$ (Particle Tracking Velocimetry) system is adopted, which consists of a double-headed Nd:YAG laser, an epi-fluorescence microscope and a cooled CCD camera. Since high shear rate can be induced due to the scale effect even at low Re, it is shown that in micro scale neutrally buoyant particles in Poiseuille flow drift away from the wall and away from the center of the capillary. Consequently, particles accumulate at the equilibrium position of $0.52\sim0.64R$ with R being the radius of the capillary, which is analogous to that of tube flow in macro scale. There is a plateau in equilibrium position at small Re, while equilibrium position starts increasing at $Re\approx30$. The outermost edge of particle cluster is closer to the center of the capillary than that in previous studies due to low Re effect. The present study quantitatively presents characteristics of particle motion in circular capillaries. Furthermore, it is expected to give optimum factors for designing microfluidic systems that are to be used fur plasma separation from the blood.

• Journal of the Korean Society for Railway
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• v.2 no.4
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• pp.1-8
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• 1999

A formulation to perform static equilibrium and linear vibration analysis is presented in this paper. The formulation employs minimum number of equations of motion which are derived by using a partial velocity matrix. The static equilibrium analysis is performed first, then the linear vibration analysis is performed at the static equilibrium position. By using the formulation presented in this paper, static equilibrium and linear vibration analysis of a high speed electric train system are performed. A single bogie system, a power car vehicle, and a train system which consists of five vehicles are analyzed, respectively. Natural frequencies and a few lowest mode shapes of the two are identified in this paper.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.04a
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• pp.457-464
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• 1998

The equilibrium path of shallow sinusoidal arches supported by hinges at both ends is investigated. The displacement increment method is used to get the solution of the nonlinear differential equations for these structures and to plot the equilibrium paths by the results. Using the equilibrium paths, the relations between the position of buckling point and buckling type for the case of sinusoidal distributed loads are inferred. From the result that the buckling type changes according to the normalized rise of arch, it is also shown that the arch rise is the governing factor to stability regions