• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.529-535
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• 2000

This paper propose the method to obtain the inverse kinematics and the Jacobian of the 5-bar parallel robot and apply the nonlinear controller to the 5-bar parallel robot with the dynamic analyses using the Jacobian of the Passive joints with respect to the active ones and singular value decomposition(SVD). It also experimentally shows that we can do high-speed and accuracy tasks using nonlinear control method. And it explains the relation between the property of the position control and manipulability using a new performance index.

• 대한기계학회논문집
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• 제10권5호
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• pp.611-617
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• 1986

본 연구에서는 일반 관성행렬 방법을 이용하여 일반적인 다관절 링크 로봇 매 니퓰레이터의 구동 토오크를 구하고 작업 영역 내에서 두 점 사이를 이동할 때 걸리는 구동 토오크를 최소화하는 최적 조인트 운동에 대한 해를 Rayleigh-Ritz의 방법으로 얻도록 시도하였다.

• Advances in nano research
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• 제8권2호
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• pp.149-156
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• 2020

The present paper explores forced vibrational properties of porosity-dependent functionally graded (FG) cylindrical nanoshells exposed to linear-type or triangular-type impulse load via classical shell theory (CST) and nonlocal strain gradient theory (NSGT). Employing such scale-dependent theory, two scale factors accounting for stiffness softening and hardening effects are incorporated in modeling of the nanoshell. Two sorts of porosity distributions called even and uneven have been taken into account. Governing equations obtained for porous nanoshell have been solved through inverse Laplace transforms technique to derive dynamical deflections. It is shown that transient responses of a nanoshell are affected by the form and position of impulse loading, amount of porosities, porosities dispensation, nonlocal and strain gradient factors.

• Structural Engineering and Mechanics
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• 제10권4호
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• pp.359-369
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• 2000

Random loading identification has long been a difficult problem for Multi-Input-Multi-Output (MIMO) structure. In this paper, the Pseudo Excitation Method (PEM), which is an exact and efficient method for computing the structural random response, is extended inversely to identify the excitation power spectral densities (PSD). This identified method, named the Inverse Pseudo Excitation Method (IPEM), resembles the general dynamic loading identification in the frequency domain, and can be used to identify the definite or random excitations of complex structures in a similar way. Numerical simulations are used to reveal the the difficulties in such problems, and the results of some numerical analysis are discussed, which may be very useful in the setting up and processing of experimental data so as to obtain reasonable predictions of the input loading from the selected structural responses.

• Structural Engineering and Mechanics
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• 제82권6호
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• pp.747-756
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• 2022

This study presents the nonlinear free and forced vibrations of a cracked atomic force microscopy (AFM) cantilever by using the modified couple stress. The cracked section of the AFM cantilever is considered and modeled as rotational spring. In the frame work of Euler-Bernoulli beam theory, Von-Karman type of geometric nonlinear equation and the modified couple stress theory, the nonlinear equation of motion for the cracked AFM is derived by Hamilton's principle and then discretized by using the Galerkin's method. The semi-inverse method is utilized for analysis nonlinear free oscillation of the system. Then the method of multiple scale is employed to investigate primary resonance of the system. Some numerical examples are presented to illustrate the effects of some parameters such as depth of the crack, length scale parameter, Tip-Mass, the magnitude and the location of the external excitation force on the nonlinear free and forced vibration behavior of the system.

• Structural Engineering and Mechanics
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• 제15권6호
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• pp.717-733
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• 2003

A time domain method is presented for soil-structure interaction analysis under seismic excitations. It is based on the finite element formulation incorporating infinite elements for the far field soil region. Equivalent earthquake input forces are calculated based on the free field responses along the interface between the near and far field soil regions utilizing the fixed exterior boundary method in the frequency domain. Then, the input forces are transformed into the time domain by using inverse Fourier transform. The dynamic stiffness matrices of the far field soil region formulated using the analytical frequency-dependent infinite elements in the frequency domain can be easily transformed into the corresponding matrices in the time domain. Hence, the response can be analytically computed in the time domain. A recursive procedure is proposed to compute the interaction forces along the interface and the responses of the soil-structure system in the time domain. Earthquake response analyses have been carried out on a multi-layered half-space and a tunnel embedded in a layered half-space with the assumption of the linearity of the near and far field soil region, and results are compared with those obtained by the conventional method in the frequency domain.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 추계학술대회 논문집
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• pp.781-786
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• 2009

The thesis shows that we gauged vibration of vehicular load regarding WPC girder bridge and researched into dynamic characteristics(natural frequency, vibration acceleration) of WPC girder bridge. By the basic of that, we researched on vibration serviceability by looking over and being compared to vibration criteria we had before. In the thesis, the gauged vibration made an analysis of vertical acceleration through FFT method and evaluated vibration serviceability about vibration sense the body feels by means of the standard of ISO assessment standard and Meister assessment standard by referring to analysis data. This research on bridge is WPC girder bridge of 90m span, width of 5.5m, and the experiment was gauged by a fluent which is right way and inverse way about dump truck of gross 270kN. Acceleration was located in the middle of 1st span, 2nd span, 3rd span. As a result of appraisal standard of Meister, the vibrations of the bridge have distributed between "Level C, Strongly Perceptible" and "Level B, Disturbing". Also the vibration can be attacked with unpleasant feeling. As a result of appraisal standard of ISO, from vibration influence didn't come to 60s, and reduced comfort boundary in part of most rigorous standard that such a case didn't happen.

• 대한기계학회논문집
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• 제14권2호
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• pp.298-309
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• 1990

In this paper, a new method is suggested to analyze impulsive stresses at loading poing of concentrated impact load under certain impact conditions determined by impact velocity, stiffness of plate and mass of impact body, etc. The impulsive stresses are analyzed by using the three dimensional dynamic theory of elasticity so as to analytically clarify the generation phenomenon of cone crack at the impact fracture of fragile materials (to be discussed if the second paper). The Lagrange's plate theory and Hertz's law of contact theory are used for the analysis of impact load, and the approximate equation of impact load is suggested to analyze the impulsive stresses at the impact point to decide the ranage of impact load factor. When impact load factors are over and under 0.263, approximate equations are suggested to be F(t)=Aexp(-Bt)sinCt and F(t)=Aexp(-bt) {1-exp(Ct)} respectively. Also, the inverse Laplace transformation is done by using the F.F.T.(fast fourier transform) algorithm. And in order to clarity the validity of stress analysis method, experiments on strain fluctuation at impact point are performed on a supported square glass plate. Finally, these analytical results are shown to be in close agreement with experimental results.

• 한국소음진동공학회논문집
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• 제20권4호
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• pp.331-337
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• 2010

The thesis shows that we gauged vibration of vehicular load regarding WPC girder bridge and researched into dynamic characteristics(natural frequency, vibration acceleration) of WPC girder bridge. By the basic of that, we researched on vibration serviceability by looking over and being compared to vibration criteria we had before. In the thesis, the gauged vibration made an analysis of vertical acceleration through FFT method and evaluated vibration serviceability about vibration sense the body feels by means of the standard of ISO assessment standard and Meister assessment standard by referring to analysis data. This research on bridge is WPC girder bridge of 90 m span, width of 5.5 m, and the experiment was gauged by a fluent which is right way and inverse way about dump truck of gross 270 kN. Acceleration was located in the middle of 1st span, 2nd span, 3rd span. As a result of appraisal standard of Meister, the vibrations of the bridge have distributed between "level C, strongly perceptible" and "level B, disturbing". Also the vibration can be attacked with unpleasant feeling. As a result of appraisal standard of ISO, from vibration influence didn't come to 60s, and reduced comfort boundary in part of most rigorous standard that such a case didn't happen.