• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.11
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• pp.2704-2710
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• 1993

A simple and straightforward method is introduced for developing continuum beam-rod model of a box-beam typed aircraft wing with composite layered skin based on "energy equivalence." The equivalent continuum structral properties are obtained from the direct comparison of the reduced stiffness and mass matrices for box-beam typed wing with those for continuum beam-rod model. The stiffness and mass matrices are all represented in terms of the continuum degrees-of freedom defined in this paper. The finite-element method. The advantage of the present continuum method is to give every continuum structural properties including all possible coupling terms which represent the couplings between different deformations. To evaluate the continuum method developed in this paper, free vibration analyses for both continuum beam-rod and box-beam are conducted. Numerical tests show that the present continuum method gives very reliable structural and dynamic properties compared to the results by the conventional finite-element analysis. analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1021-1029
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• 1992

A rational and straightforward method is introduced for developing continuum models of large platelike periodic lattice structures based on energy equivalence. The procedure for developing continuum plate models involves the use of existing well-defined finite element matrices for the easy calculation of strain and kinetic energies of a repeating cell, from which the reduced stiffness and mass matrices are obtained in terms of continuum degrees- of-freedom defined in this paper. The equivalent continuum plate properties are obtained from the direct comparison of the reduced matrices for continuum plate with those for lattice plate. The advantages of the present continuum method are that it may be applied to arbitrary lattice configurations and may give most diverse equivalent continuum plate properties including all kinds of coupling, while other methods may give only limited structural properties. To evaluate the continuum method developed in this paper, free vibration analyses for both of continuum and lattice plates are conducted. Numerical results show that the present continuum method gives very reliable structural and dynamic properties compared to other well-recognized methods.

• Journal of the Korean Society for Railway
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• v.3 no.2
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• pp.43-50
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• 2000

The corrugated panels are the prime candidate structure for the floor, roof and wall of Korean high speed train. The equivalent continuum modeling approach panels can be used for the efficient design and evaluation of their structural characteristics. The equivalent continuum models, derived from the true complex corrugated panels, should have the same structural behavior as the original structures have. This paper briefly reviews three representative continuum modeling methods: the static analysis method and two plate-models based on modal analysis methods (MAM). These methods are evaluated through some numerical examples by comparing the natural frequencies and static deflections. It is observed that the plate-model based on Rayleigh-Ritz method seems to provide the best results when used in conjunction with the cantilever-type boundary conditions. The equivalent elastic constants of various corrugated panels, depending on the changes in their configurations, are tabulated for efficient use in structural design.

• Computers and Concrete
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• v.1 no.1
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• pp.61-76
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• 2004

The paper is devoted to present the Continuum Strong Discontinuity Approach (CSDA) and to examine its capabilities for modeling cracking of concrete. After introducing the main ingredients of the CSDA, an isotropic continuum damage model, which distinguishes tension and compression states, is used to implicitly induce a projected traction separation-law that rules the cracking phenomena. Criteria for onset and propagation of material failure and specific finite elements with embedded discontinuities are also briefly sketched. Finally, some representative numerical simulations of cracking, in plain and reinforced concrete specimens, using the CSDA are presented.

• Structural Engineering and Mechanics
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• v.74 no.5
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• pp.611-633
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• 2020

In this paper, a comprehensive review of nanostructures that exhibit piezoelectric behavior on all mechanical, buckling, vibrational, thermal and electrical properties is presented. It is firstly explained vast application of materials with their piezoelectric property and also introduction of other properties. Initially, more application of material which have piezoelectric property is introduced. Zinc oxide (ZnO), boron nitride (BN) and gallium nitride (GaN) respectively, are more application of piezoelectric materials. The nonlocal elasticity theory and piezoelectric constitutive relations are demonstrated to evaluate problems and analyses. Three different approaches consisting of atomistic modeling, continuum modeling and nano-scale continuum modeling in the investigation atomistic simulation of piezoelectric nanostructures are explained. Focusing on piezoelectric behavior, investigation of analyses is performed on fields of surface and small scale effects, buckling, vibration and wave propagation. Different investigations are available in literature focusing on the synthesis, applications and mechanical behaviors of piezoelectric nanostructures. In the study of vibration behavior, researches are studied on fields of linear and nonlinear, longitudinal and transverse, free and forced vibrations. This paper is intended to provide an introduction of the development of the piezoelectric nanostructures. The key issue is a very good understanding of mechanical and electrical behaviors and characteristics of piezoelectric structures to employ in electromechanical systems.

• The Journal of Engineering Geology
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• v.26 no.3
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• pp.325-330
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• 2016

The second phase of low- and intermediate-level waste (LILW) disposal facility is under planned on the sedimentary rock in unsaturated zone. In this study, we created two meshes which were a matrix continuum mesh and a fracture continuum mesh to carry out 2 dimensional numerical modeling for groundwater flow in the unsaturated zone containing fractures focused on the second phase of LILW disposal facility. Two continuum meshes were developed using MINC in meshmaker module of TOUGH2 code. A fracture continuum mesh was included the k-field distribution of the permeability derived from the Discrete Fractured Network (DFN) modeling. To apply the unsaturated zone for the modeling, the gridding steps to generate mesh were developed. Each step to generate a mesh consisted of definition of materials, setting the initial conditions and creating grids using MINC. The methodology development of meshes in this study will be applied for more precise modeling of groundwater flow and mass transport.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2005.07a
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• pp.135-138
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• 2005

HDL(Hardware Description Language) is the most important modem tools used to describe hardware, and becomes important as we move to higher levels of abstraction. The HDL has been made brisk use of in analog design, MEMS device[1-2], process related field as well as digital design. The most important characteristics of HDL is Abstraction which is the strongest tool that extend greatly designer's design ability. In this paper by the Modelling Continuum with hierarchical structure of abstraction, we apply UML(Unified Modeling Language) to SoC Design with HDL UML makes an easy and visual description of the various levels of abstraction, and gives designers good flexible modeling capabilty for SoC Design.

• Computational Structural Engineering
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• v.3 no.4
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• pp.105-112
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• 1990

A rational and straightforward method is introduced for developing continuum models of large platelike periodic lattice structures based on energy equivalence, The procedure for developing continuum models involves using existing finite element matrices in calculating strain and kinetic energies of a repeating cell. The equivalent continuum plate properties are obtained from the direct comparison of the reduced stiffness and mass matrices for continuum and lattice plates. Numerical results prove that the method developed in this paper shows very good agreement with other well-recognized methods.

• Smart Structures and Systems
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• v.18 no.4
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• pp.663-682
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• 2016

Continuum manipulators as a kind of mechanical arms are useful tools in special robotic applications. In medical applications, like colonoscopy, a maneuverable thin and flexible manipulator is required. This research is focused on developing a basic module for such an application using shape memory alloys (SMA). In the structure of the module three wires of SMA are uniformly distributed and attached to the circumference of a flexible tube. By activating wires, individually or together, different rotation regimes are provided. SMA model is used based on Brinson work. The SMA model is combined to model of flexible tube to provide a composite model of the module. Simulating the model in Matlab provided a platform to be used to develop controller. Complex and nonlinear behavior of SMA make the control problem hard especially when a few SMA actuators are active simultaneously. In this paper, position control of the two degree of freedom module is under focus. An experimental control strategy is developed to regulate a desired position in the module. The simulation results present a reasonable performance of the controller. Moreover, the results are verified through experiments and show that the continuum module of this paper would be used in real modular manipulators.