• Explosives and Blasting
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• v.36 no.4
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• pp.1-8
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• 2018

This numerical study was intended to evaluate the applicability of the half charge blasting to mining and tunnelling. The half charge blasting is a method that two separate rounds are sequentially blasted for the rock burdens in which long blast holes have already been drilled at one operation. The aim of the method is to decrease the construction cost and period in mining and tunnelling projects as well as to increase the blasting efficiency. Several numerical analyses were conducted by using the Euler-Lagrange solver on ANSYS AUTODYN to identify the effects of the suggested method on the blasting results in underground excavations. The overall performance of the suggested method was also compared to an ordinary blasting method. The analysis model was comprised of the Eulerian parts (explosive, air, and stemming materials) and the Lagrangian parts (rock material). As a result, it was found that, owing to the air decks formed in the bottom parts of the long blast holes, the first round of the suggested method presented a higher shock pressure and particle velocities in the vicinity of the blast holes compared to the ordinary blasting method.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2457-2466
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• 1993

A simple method is presented for determining transient responses of locally nonlinear structures using substructure eigenproperties and Lagrange multiplier technique. Although the method is based upon the mode synthesis formulation procedure, the equations of the combined whole structure are not constructed compared with the conventional methods. Lagrange multi-pliers are used to enforce the conditions of geometric compatibility between the substructure interfaces and they are treated as external forces on each substructure itself. Substructure eigenvalue problem is defined with the substructure interface free of fixed. The transient analysis is based upon the recurrence discrete-time state equations and offers the simplicity of the Euler integration method without requiring small time increment and iterative solution procedure. Numerical examples reveal that the method is very accurated and efficient in calculating transient responses compared with the direct numerical integration method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.321-321
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• 2000

This paper presents a sliding mode controller based on variable structure for the tip position control of a single-link flexible manipulator. Dynamic equations of a single-link flexible manipulator are derived from the Euler-Lagrange equation using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. Simulation results are presented to show the validity of the system modeling, controller design.

• Magazine of the Korean Society of Agricultural Engineers
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• v.44 no.4
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• pp.62-74
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• 2002

The purpose of this study is to find the variation of sedimentation patterns before Saemangeum reclamation. Residual flow before Saemangeum reclamation was calculated diagnostically from the observed water temperature and salinity data in May 1992 by the Marine Development Institute of Kunsan National University and wind data which were obtained from spring 1969 through winter 1977 by the Gunsan Meteorological Observatory. Three dimensional movements of injected particles due to currents, turbulence and sinking velocity are tracked by the Euler-Lagrange method. Calculated sedimentation patterns of riverine materials are highly similar to the observed ones. When suspended sediments with the size of soil grain of 60 ${\mu}m$ are injected from the Mangyeong River, their dispersion range of sediment is about 25km for 24 hours after the injection, while about 35km for 72 hours after the injection. When suspended sediments with the size of soil grain of 200 ${\mu}m$ are injected, their dispersion range of sediment is about 18km for 24 hours after the injection, while about 21km for 72 hours after the injection.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.04a
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• pp.52-56
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• 1993

An efficient method is presented for determining transient responses of locally nonlinear structures using substructure eigenproperties and Lagrange multiplier technique. The method is based upon the mode synthesis formulation procedure, but does not construct the equations of motion of the combined whole structure compared with the conventional methods. For modal bases of each linear substructure, either fixed or free interface modes can be employed. The transient analysis is based upon the recurrence discrete-time state equations and offers the simplicity of the Euler integration method without requiring small time increment and iterative solution procedure. Numerical examples reveal that the method is very accurate and efficient in calculating transient responses compared with the direct numerical integration method.

• Journal of the Korean Mathematical Society
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• v.50 no.1
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• pp.81-93
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• 2013

We consider a distributed optimal flux control problem: finding the potential of which gradient approximates the target vector field under an elliptic constraint. Introducing the Lagrange multiplier and a change of variables the Euler-Lagrange equation turns into a coupled equation of an elliptic equation and a reaction diffusion equation. The change of variables reduces iteration steps dramatically when the Gauss-Seidel iteration is considered as a solution method. For the elliptic equation solver we consider the Cell Boundary Element (CBE) method, which is the finite element type flux preserving methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.11
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• pp.1820-1828
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• 2001

The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.

• Structural Engineering and Mechanics
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• v.53 no.6
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• pp.1105-1126
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• 2015

Many vibrating mechanical systems from the real life are modeled as combined dynamical systems consisting of beams to which spring-mass secondary systems are attached. In most of the publications on this topic, masses of the helical springs are neglected. In a paper (Cha et al. 2008) published recently, the eigencharacteristics of an arbitrary supported Bernoulli-Euler beam with multiple in-span helical spring-mass systems were determined via the solution of the established eigenvalue problem, where the springs were modeled as axially vibrating rods. In the present article, the authors used the assumed modes method in the usual sense and obtained the equations of motion from Lagrange Equations and arrived at a generalized eigenvalue problem after applying a Galerkin procedure. The aim of the present paper is simply to show that one can arrive at the corresponding generalized eigenvalue problem by following a quite different way, namely, by using the so-called "characteristic force" method. Further, parametric investigations are carried out for two representative types of supporting conditions of the bending beam.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.648-653
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• 1993

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1731-1741
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• 2005

In this paper, we studied about the effect of the open crack and a tip mass on the dynamic behavior of a cantilever pipe conveying fluid with a moving mass. The equation of motion is derived by using Lagrange's equation and analyzed by numerical method. The cantilever pipe is modelled by the Euler-Bernoulli beam theory. The crack section is represented by a local flexibility matrix connecting two undamaged pipe segments. The influences of the crack, the moving mass, the tip mass and its moment of inertia, the velocity of fluid, and the coupling of these factors on the vibration mode, the frequency, and the tip-displacement of the cantilever pipe are analytically clarified.