• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• Journal of electromagnetic engineering and science
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• v.1 no.2
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• pp.156-160
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• 2001

Very convenient equivalent circuits fur the design of bandpass filters with an attenuation pole in the lower or upper stopband are provided together with necessary closed-form solutions. The proposed approach gives us much flexibility and simplifies the design of inserting attenuation poles.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.289-292
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• 1994

In this paper, the equations of motion are constructed systematically for multibody systems containing closed kinematic loops. For the displacement analysis of the closed loops, we introduce a new mixed coordinates by adding to the reference coordinates, relative coordinates corresponding to the degrees of freedom of the system. The mixed coordinates makes easy derive the explicit closed form solution. The explicit functional relationship expressed in closed form is of great advantages in system dimension reduction and no need of an iterative scheme for the displacement analysis. This forms of equation are built up in the general purpose computer program for the kinematic and dynamic analysis of multiboty systems.

• Structural Engineering and Mechanics
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• v.43 no.2
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• pp.239-251
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• 2012

The analysis of laterally loaded piles is generally carried out by idealizing the soil mass as Winkler springs, which is a crude approximation; however this approach gives reasonable results for many practical applications. For more precise analysis, the three- dimensional finite element analysis (FEA) is one of the best alternatives. The FEA uses the modulus of elasticity $E_s$ of soil, which can be determined in the laboratory by conducting suitable laboratory tests on undisturbed soil samples. Because of the different concepts and idealizations in these two approaches, the results are expected to vary significantly. In order to investigate this fact in detail, three-dimensional finite element analyses were carried out using different combinations of soil and pile characteristics. The FE results related to the pile deflections are compared with the closed-form solutions in which the modulus of subgrade reaction $k_s$ is evaluated using the well-known $k_s-E_s$ relationship. In view of the observed discrepancy between the FE results and the closed-form solutions, an improved relationship between the modulus of subgrade reaction and the elastic constants is proposed, so that the solutions from the closed-form equations and the FEA can be closer to each other.

• Computers and Concrete
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• v.23 no.1
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• pp.11-23
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• 2019

Nowadays, the characterization of Ultra-High Performance Fiber-Reinforced Concrete (UHPFRC) tensile behavior still remains a challenge for researchers. For this purpose, a simplified closed-form non-linear hinge model based on the Third Point Bending Test (ThirdPBT) was developed by the authors. This model has been used as the basis of a simplified inverse analysis methodology to derive the tensile material properties from load-deflection response obtained from ThirdPBT experimental tests. In this paper, a non-linear finite element model (FEM) is presented with the objective of validate the closed-form non-linear hinge model. The state determination of the closed-form model is straightforward, which facilitates further inverse analysis methodologies to derive the tensile properties of UHPFRC. The accuracy of the closed-form non-linear hinge model is validated by a robust non-linear FEM analysis and a set of 15 Third-Point Bending tests with variable depths and a constant slenderness ratio of 4.5. The numerical validation shows excellent results in terms of load-deflection response, bending curvatures and average longitudinal strains when resorting to the discrete crack approach.

• Structural Engineering and Mechanics
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• v.38 no.2
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• pp.157-169
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• 2011

In this paper the time-dependent closed-form static solution of the suspended pre-stressed biconcave and biconvex cable trusses with unmovable, movable and elastic or viscoelastic yielding supports subjected to various types of vertical load is presented. Irvine's forms of the deflections and the cable equations are modified because the effects of the rheological behaviour needed to be incorporated in them. The concrete cable equations in the form of the explicit relations are derived and presented. From a solution of a vertical equilibrium equation for a loaded cable truss with rheological properties, the additional vertical deflection as a time-function is determined. The time-dependent closed-form model serves to determine the time-dependent response, i.e., horizontal components of cable forces and deflection of the cable truss due to applied loading at the investigated time considering effects of elastic deformations, creep strains, temperature changes and elastic supports. Results obtained by the present closed-form solution are compared with those obtained by FEM. The derived time-dependent closed-form computational model is used for a time-dependent simulation-based reliability assessment of cable trusses as is described in the second part of this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.324-337
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• 1999

In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.180-190
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• 2003

By using accurate closed-form Green's functions obtained from real-axis integration method, the full-wave analysis of CPW discontinuities are performed in space domain. In solving MPIE(Mixed Potential Integral Equation), Galerkin's scheme is employed with the linear basis functions on the triangular elements in air-dielectric boundary. In the singular integral arising when the observation point and source point coincides, the surface integral is transformed into the line integral and the integral is evaluated by regular integration. By using the Green's function from the real-axis integration method, the discontinuities are characterized accurately.

• Structural Engineering and Mechanics
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• v.10 no.1
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• pp.67-79
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• 2000

Critical loads and load-carrying capacities for steel scaffolds used as shoring systems were compared using computational and experimental methods in Part I of this paper. In that paper, a simple 2-D model was established for use in evaluating the structural behavior of scaffold-shoring systems. This 2-D model was derived using an incremental finite element analysis (FEA) of a typical complete scaffold-shoring system. Although the simplified model is only two-dimensional, it predicts the critical loads and failure modes of the complete system. The objective of this paper is to present a closed-form solution to the 2-D model. To simplify the analysis, a simpler model was first established to replace the 2-D model. Then, a closed-form solution for the critical loads and failure modes based on this simplified model were derived using a bifurcation (eigenvalue) approach to the elastic-buckling problem. In this closed-form equation, the critical loads are shown to be function of the number of stories, material properties, and section properties of the scaffolds. The critical loads and failure modes obtained from the analytical (closed-form) solution were compared with the results from the 2-D model. The comparisons show that the critical loads from the analytical solution (simplified model) closely match the results from the more complex model, and that the predicted failure modes are nearly identical.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.1
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• pp.124-135
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• 2000

In this study, a numerically efficient method for the analysis of microstrip structures is considered in conjunction with the use of closed-form spatial Green's functions. As is well-known, the use of the closed-form Green's functions can reduce the evaluation time of impedance matrix elements. However the problematic aspect that in general the evaluation results of diagonal elements of the matrix converge slowly, has been observed. The main cause of the slow convergence has been due to the terms of closed-form Green's functions with small exponent. In other to resolve the problematic aspect, a method of numerical integration based on the change of variable is considered in evaluating matrix elements. The present method is applied for the analysis of a coaxial-fed microstrip antenna. When the present results are compared with the previous results in order to check the validity of the present method, fairly good agreements between them are observed.