• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2473-2475
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• 2000

In this paper, we design a GA-fuzzy controller for position control and anti-swing at the destination point. Applied genetic algorithm is used to complement the demerit such as the difficulty of the component selection of fuzzy controller, namely, scaling factor, membership function and control rules. Lagrange equation is used to represent the motion equation of trolley and load in order to obtain mathematical modelling.

• Journal of the Ergonomics Society of Korea
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• v.16 no.2
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• pp.15-27
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• 1997

Brain potential is described using the mesocolumnar activity defined by averaged firings of excitatory and inhibitory neuron of neocortex. Lagrangian is constructed based on SMNI(Statistical Mechanics of Neocortical Interaction) and then Euler Lagrange equation is obtained. Excitatory neuron firing is assumed to be amplitude- modulated dominantly by the sum of two modes of frequency .omega. and 2 .omega. . Time series of this neuron firing is calculated numerically by Euler Lagrangian equation. I .omega. L related to low frequency distribution of power spectrum, I .omega. H hight frequency, and Sd(standard deviation) were introduced for the effective extraction of the dynamic property in the simulated brain potential. The relative behavior of I .omega. L, I .omega. H, and Sd was found by parameters .epsilon. and .gamma. related to nonlinearity and harmonics respectively. Experimental I .omega L, I .omega. H, and Sd were obtained from EEG of human in rest state and of canine in deep sleep state and were compared with theoretical ones.

• Journal of the Korean Society of Safety
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• v.8 no.4
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• pp.213-222
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• 1993

This paper is concerned with automation of tower cranes in view of the robust control of tower crane during take-off, load hoisting, load lowering and landing. The model equation of the tower crane is induced by using Lagrange's equation and it is linearized at equillibrium point. The control is realized by adopting the optimal regulator method. The effectiveness is proved through the experimental results for the oscillation control of cargo rope and the position controls of trolley and boom by the implementation of digital control using 16 bits microcomputer for the designed optimal control law.

• Journal of the korean Society of Automotive Engineers
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• v.9 no.1
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• pp.49-56
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• 1987

This study is a part f the research on the coupled vibration of train wheel with stepped thickness and rail. The research was conducted for the purpose of examining the dynamic characteristics of train wheel which considered the effect of rotatory inertia and preventing the vibrations of the high speed railway. The In-plane compressive stresses were computed by the rotation of train wheel and the reaction depending on the condition of rolling. The equation of transverse vibration of the train wheel was obtained by Lagrange's equation. As a result of study, it is known that the effect of rotatory inertia and the increment of thickness ratio, h over bar decrease frequency but the increment of radius ratio, r over bar increase frequency.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.4
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• pp.419-426
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• 2004

In this paper, studied about the effect of open crack and the moving mass on the dynamic behavior of simply supported pipe conveying fluid. The equation of motion is derived by using Lagrange's equation. The influences of the velocity of moving mass, the velocity of fluid flow and a crack have been studied on the dynamic behavior of a simply supported pipe system by numerical method. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. Therefore, the crack is modelled as a rotational spring. Totally, as the velocity of fluid flow is increased, the mid-span deflection of simply supported pipe conveying fluid is increased. The position of the crack is located in the middle point of the pipe, the mid-span deflection of simply supported pipe presents maximum deflection.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.600-603
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• 2005

In this paper we studied about the effect of the double cracks on the dynamic behavior of a simply supported beam. The equation of motion is derived by using Lagrange's equation and analyzed by numerical method. The simply supported beam is modeled by the Euler-Bernoulli beam theory. The crack section is represented by a local flexibility matrix connecting three undamaged beam segments. The influences of the crack depth and position of each crack on the vibration mode and the natural frequencies of a simply supported beam are analytically clarified. The theoretical results are also validated by a comparison with experimental measurements.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.713-716
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• 2004

In this paper a dynamic behavior of a double-cracked cnatilver beam with a tip mass and the moving mass is presented. Based on the Euler-Bernoulli beam theory, the equation of motion is derived by using Lagrange's equation. The influences of the moving mass, a tip mass and double cracks have been studied on the dynamic behavior of a cantilever beam system by numerical method. The cracks section are represented by the local flexibility matrix connecting two undamaged beam segments. ,Therefore, the cracks are modelled as a rotational spring. Totally, as a tip mass is increased, the natural frequency of cantilever beam is decreased. The position of the crack is located in front of the cantilever beam, the frequencies of a double-cracked cantilever beam presents minimum frequency.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Journal of Korean Society of Steel Construction
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• v.14 no.1
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• pp.95-104
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• 2002

In this paper, research for dynamic wheel loads of 3-D vehicle model considering tire enveloping model is carried out. Heavy trucks with 2-axles and 3-axles are modeled by 7-d.o.f. and 8-d.o.f., in which contact length of tire and pitching of tandem spring axles is considered. Dynamic equations of vehicle are derived by using the Lagrange's equation and solution of the equation is calculated by 5th Runge-Kutter method. The validity of the developed 3-D vehicle model is demonstrated by comparing the results obtained by the present method and experimental data by Whittemore. The maximum impact factors of tire force are calculated when vehicle models of 8ton and 15ton dump truck are running on the different class roads with 1.0km and on the various step bump.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.6A
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• pp.989-999
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• 2006

In this paper, numerical analysis method to perform linear dynamic analysis of bridge considering the road surface roughness and bridge-vehicle interaction when vehicle is moving on bridge is presented. The vehicle and bridge are modeled as three-dimension where contact length of tire and pitching of tandem spring are considered and single truck with 2-axles and 3- axles, and tractor-trailer with 5-axles are modeled as 7-D.O.F., 8-D.O.F., and 14-D.O.F., respectively. Dynamic equations of vehicle are derived from the Lagrange's equation and solution of the equation is obtained by Newmark-${\beta}$ method. The surface roughness of bridge deck for this analysis is generated from power spectral density (PSD) function. Beam element for the main girder, shell element for concrete deck and rigid link between main girder and concrete deck are used. The equations of the motion of bridges are solved by mode-superposition procedures. The proposed procedure is validated by comparing the results with the experimental data by Whittemore and Fenves.