• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Structural Engineering and Mechanics
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• v.21 no.4
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• pp.437-450
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• 2005

In this study, a complete analysis of soil-structure interaction problems is presented which includes a modelling of the near surrounding of the building (near-field) and a special description of the wave propagation process in larger distances (far-field). In order to reduce the computational effort which can be very high for time domain analysis of wave propagation problems, a special approach based on similarity transformation of the infinite domain on the near-field/far-field interface is applied for the wave radiation of the far-field. The near-field is discretised with standard Finite Elements, which also allows to introduce non-linear material behaviour. In this paper, a new approach to calculate the involved convolution integrals is presented. This approximation in time leads to a dramatically reduced computational effort for long simulation times, while the accuracy of the method is not affected. Finally, some benchmark examples are presented, which are compared to a coupled Finite Element/Boundary Element approach. The results are in excellent agreement with those of the coupled Finite Element/Boundary Element procedure, while the accuracy is not reduced. Furthermore, the presented approach is easy to incorporate in any Finite Element code, so the practical relevance is high.

• Structural Engineering and Mechanics
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• v.68 no.6
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• pp.747-760
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• 2018

In the present study, a methodology for developing fragilities of arch concrete dams to assess their performance against seismic hazards is introduced. Firstly, the probability risk and fragility curves are presented, followed by implementation and representation of the way this method is used. Amirkabir arch concrete dam was subjected to non-linear dynamic analyses. A modified three dimensional rotating smeared crack model was used to take the nonlinear behavior of mass concrete into account. The proposed model considers major characteristics of mass concrete. These characteristics are pre-softening behavior, softening initiation criteria, fracture energy conservation, suitable damping mechanism and strain rate effect. In the present analysis, complete fluid-structure interaction is included to account for appropriate fluid compressibility and absorptive reservoir boundary conditions. In this study, the Amirkabir arch concrete dam is subjected to a set of 8 three-component earthquakes each scaled to 10 increasing intensity levels. Using proposed nonlinear smeared crack model, nonlinear analysis is performed where the structure is subjected to a large set of scaled and un-scaled ground motions and the maximum responses are extracted for each one and plotted. Based on the results, fragility curves were plotted according to various and possible damages indexes. Discrete damage probabilities were calculated using statistical methods for each considered performance level and incremental nonlinear analysis. Then, fragility curves were constructed based on the lognormal distribution assumption. Two damage indexes were introduced and compared to one another. The results indicate that the dam has a proper stability under earthquake conditions at MCE level. Moreover, displacement damages index is more conservative and impractical in the fragility analysis than tensional damage index.

• Nuclear Engineering and Technology
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• v.37 no.2
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• pp.201-206
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• 2005

Fretting, which is a special type of wear, is defined as small amplitude relative motion along the contacting interface between two materials. The structural integrity of steam generators in nuclear power plants is very much dependent upon the fretting wear characteristics of Inconel 690 U-tubes. In this study, a finite element model that can simulate fretting wear on the secondary side of the steam generator was developed and used for a quantitative investigation of the fretting wear phenomenon. Finite element modeling of elastic contact wear problems was performed to demonstrate the feasibility of applying the finite element method to fretting wear problems. The elastic beam problem, with existing solutions, is treated as a numerical example. By introducing a control parameter s, which scaled up the wear constant and scaled down the cycle numbers, the algorithm was shown to greatly reduce the time required for the analysis. The work rate model was adopted in the wear model. In the three-dimensional finite element analysis, a quarterly symmetric model was used to simulate cross tubes contacting at right angles. The wear constant of Inconel 690 in the work rate model was taken as $K=26.7{\times}10^{-15}\;Pa^{-1}$ from experimental data obtained using a fretting wear test rig with a piezoelectric actuator. The analyses revealed donut-shaped wear along the contacting boundary, which is a typical feature of fretting wear.

• Geomechanics and Engineering
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• v.24 no.3
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• pp.267-280
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• 2021

The research presented in this paper deals with dynamic stability analysis of the graphene nanoplatelets (GPLs) reinforced composite spinning disk. The presented small-scaled structure is simulated as a disk covered by viscoelastic substrate which is two-parametric. The centrifugal and Coriolis impacts due to the spinning are taken into account. The stresses and strains would be obtained using the first-order-shear-deformable-theory (FSDT). For Poisson ratio, as well as various amounts of mass densities, the mixture rule is employed, while a modified Halpin-Tsai model is inserted for achieving the elasticity module. The structure's boundary conditions (BCs) are obtained employing GPLs reinforced composite (GPLRC) spinning disk's governing equations applying principle of Hamilton which is based on minimum energy and ultimately have been solved employing numerical approach called generalized-differential quadrature-method (GDQM). Spinning disk's dynamic properties with different boundary conditions (BCs) are explained due to the curves drawn by Matlab software. Also, the simply-supported boundary conditions is applied to edges 𝜃=𝜋/2, and 𝜃=3𝜋/2, while, cantilever, respectively, is analyzed in R=R_i, and R₀. The final results reveal that the GPLs' weight fraction, viscoelastic substrate, various GPLs' pattern, and rotational velocity have a dramatic influence on the amplitude, and vibration behavior of a GPLRC rotating cantilevered disk. As an applicable result in related industries, the spinning velocity impact on the frequency is more effective in the higher radius ratio's amounts.

• 한국전산유체공학회:학술대회논문집
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• 2003.10a
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• pp.63-65
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• 2003

General classes of boundary-pressure-driven flows of incompressible Newtonian fluids in three­dimensional (3D) channels and in 3D pipes with known steady laminar realizations are investigated respectively. The characteristic physical and geometrical quantities of the flows are subsumed in the kinetic Reynolds number Re and a parameter $\psi$, which involves the energetic ratio and the directions of the boundary-driven part and the pressure-driven part of the laminar flow. The solution of non-stationary dimension-free Navier-Stokes equations is sought in the form $\underline{u}=u_{L}+U,\;where\;u_{L}$ is the scaled laminar velocity and periodical conditions are prescribed for U in the unbounded directions. The objects of our numerical investigations are autonomous systems (S) of ordinary differential equations for the time-dependent coefficients of the spatial Stokes eigenfunction, where these systems (S) were received by application of the Galerkin-method to the dimension-free Navier-Stokes equations for u.

• Advances in nano research
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• v.12 no.5
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• pp.467-482
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• 2022

In the current work, static and free torsional vibration of functionally graded (FG) nanorods are investigated using Fourier sine series. The boundary conditions are described by the two elastic torsional springs at the ends. The distribution of functionally graded material is considered using a power-law rule. The systems of equations of the mechanical response of nanorods subjected to deformable boundary conditions are achieved by using the modified couple stress theory (MCST) and taking the effects of torsional springs into account. The idea of the study is to construct an eigen value problem involving the torsional spring parameters with small scale parameter and functionally graded index. This article investigates the size dependent free torsional vibration based on the MCST of functionally graded nano/micro rods with deformable boundary conditions using a Fourier sine series solution for the first time. The eigen value problem is constructed using the Stokes' transform to deformable boundary conditions and also the convergence and accuracy of the present methodology are discussed in various numerical examples. The small size coefficient influence on the free torsional vibration characteristics is studied from the point of different parameters for both deformable and rigid boundary conditions. It shows that the torsional vibrational response of functionally graded nanorods are effected by geometry, small size effects, boundary conditions and material composition. Furthermore, for all deformable boundary conditions in the event of nano-sized FG nanorods, the incrementing of the small size parameters leads to increas the torsional frequencies.

• Journal of Ocean Engineering and Technology
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• v.24 no.1
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• pp.123-132
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• 2010

This paper presents a prestress-loss monitoring technique for prestressed concrete (PSC) girder structures that uses a vibration-based system identification method. First, the theoretical backgrounds of the prestress-loss monitoring technique and the system identification technique are presented. Second, vibration tests are performed on a lab-scaled PSC girder for which the modal parameter was measured for several prestress-force cases. A numerical modal analysis is performed by using an initial finite element (FE) model from the geometric, material, and boundary conditions of the lab-scaled PSC girder. Third, a vibration-based system identification is performed to update the FE model by identifying structural parameters since the natural frequency of the FE model became identical to the experimental results. Finally, the feasibility of the prestress-loss monitoring technique is evaluated for the PSC girder model by using the experimentally measured natural frequency and numerically identified natural frequency for several prestress-force cases.

• Journal of Ocean Engineering and Technology
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• v.23 no.1
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• pp.114-121
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• 2009

In this study, acceleration responses of caisson structures under various environmental conditions are experimentally examined as a basic study to develop the health assessment technique for harbor structures. To achieve the objective, three approaches are implemented. Firstly, a target caisson structure is selected and its small-scaled caisson is constructed in the laboratory. Secondly, a finite element model of the caisson is generated to identify dynamic responses of the baseline structure. Thirdly, experimental tests are performed on the caisson model to examine dynamic responses under various boundary conditions and impact locations. Four different boundary conditions, 'standing on concrete floor', 'standing on styrofoam block', 'standing on sand-mat' and 'hanging by crane', are considered and correlation coefficients of frequency response functions between four states are analyzed.

• Journal of the Korean Society of Safety
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• v.17 no.3
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• pp.118-122
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• 2002

A numerical study using linear finite element analysis is performed to investigate the behavior of basement wall subject to soil and water pressure. Currently, structural design of basement wall is based on the assumption for boundary condition of plate, which may lead to the erroneous results. In this study, parametric studies are performed to investigate the variation of moment and shear force according to column-to-wall stiffness ratios and aspect ratios. Scaled factors applicable to the design of basement wall are proposed with the illustration of desist examples.