• 대한기계학회논문집A
• /
• 제26권2호
• /
• pp.267-274
• /
• 2002

Using a flexible rotating beam test bed, experimental verification of a flexible multibody dynamic simulations for a rotating beam model has been carried out. The test bed consists of a flexible arm, harmonic driver reducer, AC servo motor and DSP board with PC. The mechanical ports of the test bed has been designed using 3D CAD program. For the simulation model, mass and moment of inertia of each part of the flexible rotating beam test bed are also obtained from 3D CAD model. In the flexible multibody dynamic simulations, the substructuring model has been established to capture nonlinear effects of the flexible rotating beam. Through the experimental verification, substructuring model provides better results than those from the linear model in the high speed rotation.

• 한국자동차공학회논문집
• /
• 제10권1호
• /
• pp.51-58
• /
• 2002

A simulation model has been developed to predict the performance of 5-valve gasoline engine by gas exchange process with combustion model. In this study, we simulated the intake flow characteristics and performance of 5-valve engine with entwine speed and we compared the 5-valve engine performance with that of 4-valve engine. As a result. the calculated value was in consistency with the measured value relatively. The performance of 5-valve engine was higher than that of 4-valve engine in high engine speed region.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2007년도 추계학술대회논문집
• /
• pp.708-713
• /
• 2007

Finite element model updating has been performed using an optimization technique in the paper. The objective function consists of natural frequencies, modal assurance criterion values, and bandwidths of modes, which are obtained from finite element analysis and experiment. Young's modulus and damping coefficient of the material are selected as design variables whose values are modified to make the objective function as small as possible. To consider the loading effect of an accelerometer, its mass and moment of inertia are added to design variables. This model updating method has been applied to a cantilever beam, and experimental data are measured by modal test.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2008년도 추계학술대회논문집
• /
• pp.348-353
• /
• 2008

A vibration analysis for a rotating cantilever beam with the tapered cross section is presented in this study. The stiffness changes due to the stretching caused by centrifugal inertia forces when a tapered cantilever beam rotates about the axis perpendicular to its longitudinal axis. When the cross section of cantilever beam are assumed to decrease constantly, the mass and stiffness also change according to the variation of the thickness and width ratio of a tapered cantilever beam. Such phenomena result in variations of natural frequencies and mode shapes. Therefore it is important to the equations of motion in order to be obtained accurate predictions of these variations. The equations of motion of a rotating tapered cantilever beam are derived by using hybrid deformation variable modeling method and numerical results are obtained along with the angular velocity and the thickness and width ratio.

• 대한인간공학회지
• /
• 제21권2호
• /
• pp.13-23
• /
• 2002

Human dummies are essential tools in the development of such products as vehicle have been actively used not only in reach and view field tests. but also in impact perception evaluations. This study attempted to obtain geometric and dynamic model body segments from Korean anthropometric data. The investigation focused on the de both human and dummy for the geometric and inertial properties. The dynamic modeli being suggested is based on rigid body dynamics using fifteen individual body segments by joins. The segments are connected at the locations representing the physical joint body so that each segment has its mass and moment of inertia. For visual three-dimensional graphic was used for easier implementation of the dumn applications. For applications, proposed Korean dummies Were used in dynamic crash and driver's view and reach test modules were developed in virtual environment.

• 한국정밀공학회지
• /
• 제11권6호
• /
• pp.20-27
• /
• 1994

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an improved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• Smart Structures and Systems
• /
• 제25권4호
• /
• pp.501-514
• /
• 2020

This article presents a comprehensive model to investigate a free vibration and resonance frequencies of nanostructure perforated beam element as nano-resonator. Nano-scale size dependency of regular square perforated beam is considered by using nonlocal differential form of Eringen constitutive equation. Equivalent mass, inertia, bending and shear rigidities of perforated beam structure are developed. Kinematic displacement assumptions of both Timoshenko and Euler-Bernoulli are assumed to consider thick and thin beams, respectively. So, this model considers the effect of shear on natural frequencies of perforated nanobeams. Equations of motion for local and nonlocal elastic beam are derived. After that, analytical solutions of frequency equations are deduced as function of nonlocal and perforation parameters. The proposed model is validated and verified with previous works. Parametric studies are performed to illustrate the influence of a long-range atomic interaction, hole perforation size, number of rows of holes and boundary conditions on fundamental frequencies of perforated nanobeams. The proposed model is supportive in designing and production of nanobeam resonator used in nanoelectromechanical systems NEMS.

• Structural Engineering and Mechanics
• /
• 제61권6호
• /
• pp.765-773
• /
• 2017

The quadratic B-spline finite element method yields mass and stiffness matrices which are half the size of matrices obtained by the conventional finite element method. We solve the free vibration problem of a rotating Rayleigh beam using the quadratic B-spline finite element method. Rayleigh beam theory includes the rotary inertia effects in addition to the Euler-Bernoulli theory assumptions and presents a good mathematical model for rotating beams. Galerkin's approach is used to obtain the weak form which yields a system of symmetric matrices. Results obtained for the natural frequencies at different rotating speeds show an accurate match with the published results. A comparison with Euler-Bernoulli beam is done to decipher the variations in higher modes of the Rayleigh beam due to the slenderness ratio. The results are obtained for different values of non-uniform parameter ($\bar{n}$).

• 대한전기학회논문지
• /
• 제39권4호
• /
• pp.403-413
• /
• 1990

A collision free trajectory control for multiple mobile robots in obstacle-resident workspace is proposed. The proposed method is based on the concept of neural optimization network which has been applied to such problems which are too complex to be handled by traditional analytical methods, and gives good adaptibility for unpredictable environment. In this paper, the positions of the mobile robot are taken as the variables of the neural circuit and the differential equations are derived based on the performance index which is the weighted summation of the functions of the distances between the goal and current position of each robot, between each pair of robots and between the goal and current position of each robot, between each pair of robots and between obstacles and robots. Also is studied the problem of local minimum and of detour in large radius around obstacles, which is caused by inertia of mobile robots. To show the validity of the proposed method an example is illustrated by computer simulation, in which 6 mobile robots with mass and friction traverse in a workspace with 6 obstacles.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.630-635
• /
• 1993

In this paper, the Monte-Carlo method was applied to the controller robustness evaluation problems with respect to the uncertainty of critical plant parameters. The plant studied is a aerial vehicle. The-variable parameters are nondimensional stability derivatives, inertias. The nominal nondimensional stability derivatives ,were obtained from wind tunnel test. Also the nominal inertia parameters were calculated from the mass distribution along the vehicle axes. But the parameters obtained from the test or calculations are at best probable and always contain some uncertainties which one can not figure out. So some kinds of robustness evaluation method should be applied. The parametric robustness of the designed classical controller evaluated by the method turned out to be satisfactory.