• 로봇학회논문지
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• 제5권4호
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• 로봇학회논문지
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• 제9권4호
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• 한국철도학회논문집
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• 제5권1호
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• pp.10-17
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• 2002

In this study, we have developed the static and dynamic simulation program of a high speed current collection system. The catenary wire is modeled to discrete masses connected by massless strings and the pantograph is replaced with 3 d.o.f equivalent models that are composed of masses, springs and dampers. We derived partial differential equations of motion from the equivalent model and developed the simulation program. Then, we calculated the static equilibrium state of the overhead catenary and the dynamic behaviors of the high speed current collection system. The analysis results were compared with the results of GASENDO software developed at RTRI in Japan.

• Interaction and multiscale mechanics
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• 제5권4호
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• pp.385-397
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• 2012

In this paper the dynamic stiffness matrix method was used for the free vibration analysis of axially moving micro beam with constant velocity. The extended Hamilton's principle was employed to derive the governing differential equation of the problem using the modified couple stress theory. The dynamic stiffness matrix of the moving micro beam was evaluated using appropriate expressions of the shear force and bending moment according to the Euler-Bernoulli beam theory. The effects of the beam size and axial velocity on the dynamic characteristic of the moving beam were investigated. The natural frequencies and critical velocity of the axially moving micro beam were also computed for two different end conditions.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1999년도 봄 학술발표회 논문집
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• pp.327-334
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• 1999

Steel box girders are popular to the Practicing engineers for the its large Pure torsional constant. But closed box girders at-e susceptible to the eccentric loading due to the distortion of the cross section. Distorton of the box girder develops the warping normal stress and transverse flexural stress in the cross section and their magnitudes can be large unless internal diaphragms are installed sufficiently. In this study, stiffness matrix and equivalent nodal force vector are formulated on the basis of displacement method. Shape functions are directly derived from the homogeneous solution of the governing differential equation of the distortion. New finite element formulations were coded into a computer program. Several numerical examples were presented to show the validity of developed program.

• Structural Engineering and Mechanics
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• 제21권5호
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• pp.519-537
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• 2005

A new generalized Bernoulli/Timoshenko beam-column element on a two-parameter elastic foundation is presented herein. This element is based on the exact solution of the differential equation which describes the deflection of the axially loaded beam resting on a two-parameter elastic foundation, and can take into account shear deformations, semi - rigid connections, and rigid offsets. The equations of equilibrium are formulated for the deformed configuration, so as to account for axial force effects. Apart from the stiffness matrix, load vectors for uniform load and non-uniform temperature variation are also formulated. The efficiency and usefulness of the new element in reinforced concrete or steel structures analysis is demonstrated by two examples.

• Structural Engineering and Mechanics
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• 제22권6호
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• pp.741-759
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• 2006

A general theory which describes the elastic response of a curved anisotropic plate subjected to stretching and bending will be developed by considering the nonlinear effect that reflecting the non-flat geometry of the structure. By applying a newly derived $6{\times}6$ matrix constitutive relation between force resultants, moment resultants, mid-plane strains and deformed curvatures, the governing differential equations for a curved anisotropic plate is developed in the usual manner, namely, by consideration of the constitutive relation and equilibrium equations. Solutions are obtained for simply-supported boundary conditions and compared to corresponding solutions that neglecting the nonlinear effect in the analysis. The comparisons indicate that the nonlinear terms in the equations that caused by the curvature of the structure is crucial for the curved plate analysis. Under certain curved plate geometries the unreasonable results will be induced by neglecting the nonlinear effect in the analysis.

• Steel and Composite Structures
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• 제17권3호
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• pp.305-320
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• 2014

The lowest critical value of the compressive force acting in the plane of symmetrically laminated quasi-isotropic thin rectangular plates is investigated. The critical buckling loads of plates with different types of lamination and aspect ratios are parametrically calculated. Finite Differences Method (FDM) and Galerkin Method are used to solve the governing differential equation for Classical Laminated Plate Theory (CLPT). The results calculated are compared with those obtained by the software ANSYS employing Finite Elements Method (FEM). The results of Galerkin Method (GM) are closer to FEM results than those of FDM. In this study, the primary aim is to conduct a parametrical performance analysis of proper plates that is typically conducted at preliminary structural design stage of composite vessels. Non-dimensional values of critical buckling loads are also provided for practical use for designers.

• Structural Engineering and Mechanics
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• 제46권6호
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• pp.775-790
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• 2013

Deformation analysis is a major concern in many geotechnical applications. In this paper, the deformation behavior of a geocell mattress subjected to symmetric loads was studied. The mattress was idealized as an elastic foundation beam. The horizontal beam-soil interfacial shear resistances at the beam top and bottom sides were taken into account by assuming the resistances to be linear with the relative horizontal displacements. A decoupled iterative method was employed to solve the differential displacement equations derived from the force analysis of a beam element and to obtain the solutions for the deformations and internal forces of the geocell reinforcement. The validity of the present solutions was verified by the existing finite element method and power-series solutions.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.898-905
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• 2006

In the present paper, for a quantitative assessment of early-age cracking in an RC wall, an improved analytical model is proposed. First of all, a three-dimensional finite element model for the analysis of stresses due to hydration heat and differential drying shrinkage is introduced. A discrete steel element derived using the equivalent nodal force concept is used to simulate reinforcing steels, embedded in a concrete matrix. In advance, to quantitatively calculate the cracking potential, an analytical model that can estimate the post-cracking behavior in an RC tension member is proposed Subsequent comparisons. of analytical results with test results verify that the combined use of both the finite element model for the stress analysis as well as the analytical model for the estimation of the post-cracking behavior in an RC tension member make it possible to accurately predict the cracking ,behavior of RC walls.