• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.69-72
• /
• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• Journal of computational fluids engineering
• /
• v.14 no.4
• /
• pp.93-100
• /
• 2009

The gridless (or meshfree) methods, such as MPS, SPH, FPM an so forth, are feasible and robust for the problems with moving boundary and/or complicated boundary shapes, because these methods do not need to generate a grid system. In this study, a gridless solver, which is based on the combination of moving least square interpolations on a cloud of points with point collocation for evaluating the derivatives of governing equations, is presented for two-dimensional unsteady incompressible Navier-Stokes problem in the low Reynolds number. A MAC-type algorithm was adopted and the Poission equation for the pressure was solved successively in the moving least square sense. Some typical problems were solved by the presented solver for the validation and the results obtained were compared with analytic solutions and the numerical results by conventional CFD methods, such as a FVM.

• Structural Engineering and Mechanics
• /
• v.27 no.5
• /
• pp.609-623
• /
• 2007

The problem of a semi-infinite magneto-electro-elastically impermeable mode-III crack in a magneto-electro-elastic material is considered under the action of impact loads. For the case when a pair of concentrated anti-plane shear impacts, electric displacement and magnetic induction impacts are exerted symmetrically on the upper and lower surfaces of the crack, the magneto-electro-elastic field ahead of the crack tip is determined in explicit form. The dynamic intensity factors and dynamic energy density factor are obtained. The method adopted is to reduce the mixed initial-boundary value problem, by using the Laplace and Fourier transforms, into three simultaneous dual integral equations, one of which is converted into an Abel's integral equation and the others into a singular integral equation with Cauchy kernel. Based on the obtained fundamental solutions of point impact loads, the solutions of two kinds of different loading cases are evaluated by integration. For some particular cases, the present results reduce to the previous results.

• International Journal of Aeronautical and Space Sciences
• /
• v.5 no.2
• /
• pp.43-53
• /
• 2004

Collision avoidance for multiple aircraft can be stated as a problem ofmaintaining safe distance between aircraft in conflict. Optimal collision avoidanceproblem seeks to minimize the given cost function while simultaneously satisfyingconstraints. The cost function could be a function of time or control input. This paper addresses the trajectory time-optimization problem for collision avoidance of unmanned aerial vehicles(UAVs). The problem is difficult to handle in general due to the two-point boundary value problem subject to dynamic environments. Some simplifying aleorithms are used for potential applications in on-line operation.Although under possibility of more complicated problems, a dynamic problem is transformed into a static one by prediction of the conflict time and some appropriate assumptions.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.15 no.2
• /
• pp.630-643
• /
• 1991

The hydrodynamic stability equations are formulated for buoyancy-induced flows adjacent to a vertical, planar, isothermal surface in cold pure water. The resulting stability equations, when reduced to ordinary differential equation by a similarity transformation, constitute a two-point boundary-value(eigenvalue) problem, which was numerically solved for various values of the density extremum parameter R=( $T_{m}$ - $T_.inf./) / ( $T_{o}$ - $T_.inf./). These stability equations have been solved using a computer code designed to accurately solve two-point boundary-value problems. The present numerical study includes neutral stability results for the region of the flows corresponding to 0.0.leq. R. leq.0.15, where the outside buoyancy force reversals arise. The results show that a small amount of outside buoyancy force reversal causes the critical Grashof number $G^*/ to increase significantly. A further increase of the outside buoyancy force reversal causes the critical Grashof number to decrease. But the dimensionless frequency parameter $B^*/ at $G^*/ is systematically decreased. When the stability results of the present work are compared to the experimental data, the numerical results agree in a qualitative way with the experimental data.erimental data.

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

• Transactions of Materials Processing
• /
• v.12 no.1
• /
• pp.34-42
• /
• 2003

This paper presents a rigid-plastic finite element method to handle the frictional contact problem between two deformable bodies experiencing large deformation. The variational formulation combined with incremental quasi-static model is employed for treating the contact boundary condition. The frictional behavior of the model obeys Coulomb's law of friction. The proposed contact algorithms are classified into two categories, one for searching contacting nodes and the other for calculating contact forces at the contact surface. A slave node and master contact segment are defined using the geometric condition of finite elements on the contact interface. The penalty parameter is used to limit the penetration between contacting bodies, and the finite elements are coupled with contact boundary elements.us gates and cavity thicknesses. Through this study we have observed that the jetting is related to the die swell of material. This means that the jotting is strongly affected by the elastic flow property rather than the viscous flow property in viscoelastic characteristics of molten polymer. Different resins have different elastic properties, and elastic flow behavior depends on the shear rate of flow, i.e. injection speed. Large die swell would eliminate jetting however, the retardation of die swell would stimulate jetting. In the point of mole design, reducing the thickness ratio of cavity to gate can reduce or eliminate jetting regardless of amount of elasticity of polymer melt.

• Journal of the Korean Mathematical Society
• /
• v.56 no.5
• /
• pp.1309-1331
• /
• 2019

We study the homogeneous Dirichlet boundary value problem of generalized Laplacian systems with a singular weight which may not be in $L^1$. Using the well-known fixed point theorem on cones, we obtain the multiplicity results of positive solutions under two different asymptotic behaviors of the nonlinearities at 0 and ${\infty}$. Furthermore, a global result of positive solutions for one special case with respect to a parameter is also obtained.

• Journal of Ocean Engineering and Technology
• /
• v.28 no.6
• /
• pp.560-565
• /
• 2014

In this study, the problem of trajectory optimization for underwater gliders considering depth constraints is discussed. Typically, underwater gliders are controlled to dive and climb in a saw-tooth pattern at constant gliding angles. This approach is effective and close to optimal for deep water applications. However, the optimal path deviates from the saw-tooth path in shallow water conditions. This study focuses on finding more efficient gliding paths that can minimize the traverse time in the horizontal plane when the water depth is limited. The trajectory optimization problem is formulated into a minimum time control problem with inequality path constraints and hydrodynamic drag effects. A numerical approach based on the pseudo-spectral method is adopted as a solution approach, and the simulation results are presented.

• Journal of Korean Society of Rural Planning
• /
• v.18 no.1
• /
• pp.17-28
• /
• 2012

Functional mismatch and thought and plan-less material use of recently built boundary barriers in rural areas should greatly degrade their amenity value as one of linear villagescapes, but, their present state-of-art basically necessary for problem-solving had never surveyed up to now. From this point of view, this study tried to investigate present stock quantities and qualities of boundary barriers in rural areas by sample studies on 21 case villages(7 types ${\times}$ 3 cases) and comparative analysis between the planned or improved and nots. Wall type was absolutely dominated in the structural terms, of which more than half was used cement block as building material and, therefore, grey-colored. More than half of total barrier length were fully shielded, while relatively partially shielded in the mountainous villages in open space and 'Cultural villages' with closed housing structures. Free standing style of barriers was shown along over two thirds of their total length, although not more than half in planned reclaimed villages. Especially, because of one-sided wall type structure, mismatched over-shieldness and poorer maintenance condition of the boundary barriers in peri-urban villages, there should be provided with very intensive improvement efforts for amenity barriers.