• 한국산학기술학회논문지
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• 제14권10호
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• pp.4733-4738
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• 2013

본 연구에서는 구속조건을 가진 기계계의 동적 평형위치를 다물체 동역학 해석방법을 이용하여 계산하였다. 다물체계에서 얻어지는 시간 구속조건을 가진 구속조건식과 동역학식으로부터 독립좌표계로 이루어진 동적평형식을 유도하였다. 동적 평형식은 구속조건식과 함께 비선형 대수방정식의 형태로서 Newton-Raphson 방법을 이용하여 수치해를 구하였다. 제안된 동적 평형 계산 방법을 조속기에 적용하여 동적 평형위치를 구하였다. 해석결과는 상용 프로그램의 동역학해석을 통한 평형위치의 결과와 비교하여 타당성을 검증하였다. 조속기의 회전 각속도에 대한 평형위치를 계산하고 설계 파라미터에 대한 평형위치의 영향을 분석하였다.

• Structural Engineering and Mechanics
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• 제35권5호
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• pp.555-570
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• 2010

Shallow fixed arches have a nonlinear primary equilibrium path with limit points and an unstable postbuckling equilibrium path, and they may also have bifurcation points at which equilibrium bifurcates from the nonlinear primary path to an unstable secondary equilibrium path. When a shallow fixed arch is subjected to a central step load, the load imparts kinetic energy to the arch and causes the arch to oscillate. When the load is sufficiently large, the oscillation of the arch may reach its unstable equilibrium path and the arch experiences an escaping-motion type of dynamic buckling. Nonlinear dynamic buckling of a two degree-of-freedom arch model is used to establish energy criteria for dynamic buckling of the conservative systems that have unstable primary and/or secondary equilibrium paths and then the energy criteria are applied to the dynamic buckling analysis of shallow fixed arches. The energy approach allows the dynamic buckling load to be determined without needing to solve the equations of motion.

• 대한정형도수물리치료학회지
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• 제14권1호
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• pp.15-23
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• 2008

Purpose : To evaluate the effects of elastic resistance exercise of lumbo-pelvic region and upper limbs muscle on equilibrium ability and shoulder pain of the elderly. Methods : The subject consisted of sixteen healthy elderly people(14 females. 2 males). They were from 61 to 83 years old and the mean age was 68.06. All subjects were assigned only the elastic resistance exercise group. The subject group received elastic resistance exercise for about 60 minutes per day, two times per weeks, during 8 weeks period. A Stop watch was used to measure static equilibrium ability and dynamic equilibrium ability and then pressure algometer was used to measure shoulder press pain threshold. All measurements of each subjects were measured at pre-experiment and post-experiment stage. SPSS 12.0 program was used to compile results. A Paired samples t-test was conducted to examine changes of static equilibrium, dynamic equilibrium and shoulder press pain threshold between pre-experiment and post-experiment. Results : The static equilibrium ability, dynamic equilibrium ability and shoulder press pain threshold were significantly differences between pre-experiment and post-experiment(p<.05). Conclusion : This data suggests that an eight week elastic resistance exercise improved static equilibrium ability and dynamic equilibrium ability and then reduced shoulder pain.

• 한국경영과학회지
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• 제34권4호
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• pp.123-138
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• 2009

This study examined the first- and second-best pricing by stable dynamics in congested transportation networks. Stable dynamics, suggested by Nesterov and de Palma (2003), is a new model which describes and provides a stable state of congestion in urban transportation networks. The first-best pricing in user equilibrium models introduces user-equilibrium in the system-equilibrium by tolling the difference between the marginal social cost and the marginal private cost on each link. Nevertheless, the second-best pricing, which levies the toll on some, but not all, links, is relevant from the practical point of view. In comparison with the user equilibrium model, the stable dynamic model provides a solution equivalent to system-equilibrium if it is focused on link flows. Therefore the toll interval on each link, which keeps up the system-equilibrium, is more meaningful than the first-best pricing. In addition, the second-best pricing in stable dynamic models is the same as the first-best pricing since the toll interval is separately given by each link. As an effect of congestion pricing in stable dynamic models, we can remove the inefficiency of the network with inefficient Braess links by levying a toll on the Braess link. We present a numerical example applied to the network with 6 nodes and 9 links, including 2 Braess links.

• 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.

• 한국소음진동공학회논문집
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• 제17권7호
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• pp.579-586
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• 2007

Analytical method to analyze the effect of tolerance on the modal characteristic of multi-body systems in dynamic equilibrium position is suggested in this paper. Monte-Carlo method is conventionally employed to perform the tolerance analysis. However, Monte-Carlo method spends too much time for analysis and has a greater or less accuracy depending on sample condition. To resolve these problems, an analytical method is suggested in this paper. Sensitivity equations for damped natural frequencies and the transfer function are derived at the dynamic equilibrium position. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivities of damped natural frequencies and the transfer function can be calculated.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.109-114
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• 2007

Analytical method to analyze the effect of tolerance on the modal characteristic of multi-body systems in dynamic equilibrium position is suggested in this paper. Monte-Carlo Method is conventionally employed to perform the tolerance analysis. However, Monte-Carlo Method spends too much time for analysis and has a greater or less accuracy depending on sample condition. To resolve these problems, an analytical method is suggested in this paper. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivities of damped natural frequencies and the transfer function can be calculated at the dynamic equilibrium position. The effect of tolerance on the modal characteristic can be analyzed from tolerance analysis method.

• 대한교통학회:학술대회논문집
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• 대한교통학회 2002년도 제41회 학술발표회논문집
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• pp.97-139
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• 2002

The aim of the present study is to find a good quality user equilibrium assignments under time varying condition. For this purpose, this study introduces a dynamic network loading method that can maintain correct flow propagation as well as flow conservation, and it develops a novel solution algorithm that does not need evaluation of the objective function by modifying the Schittenhelm (1990)'s algorithm. This novel algorithm turns out to be efficient and convenient compared to the conventional Frank-Wolfe (1956) algorithm because the former finds solutions based on routes rather than links so that it can maintain correct flow propagation intrinsically in the time-varying network conditions. The application of dynamic user equilibrium (DUE) assignment model with this novel solution algorithm to test networks including medium-sized one shows that the present DUE assignment model gives rise to high quality discrete time solutions when we adopt the deterministic queuing model for a link performance function, and we associate flows and costs in a proper way.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.231-234
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• 1996

This paper considers the output regulation problems on uncertain systems. Using NR-estimator(on-line), a family of equilibrium points for the uncertain system is computed. The state variables of the closed loop system track the average value of the obtained equilibrium manifold by dynamic state feedback control.

• 소성∙가공
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• 제26권5호
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• pp.314-322
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• 2017

In the high-speed forming analysis, dynamic material properties considering a high strain rate are required. The split Hopkinson pressure bar (SHPB) experiment was performed for measuring dynamic material properties under high strain rate. The pulse shaping method was used to improve the accuracy of the SHPB experiment. A pulse shaper attached to the front of the incident bar was used for specimen dynamic stress equilibrium through stress wave control. Numerical analysis and SHPB test were performed to verify whether the pulse shaper affects the dynamic stress equilibrium in copper and Al6061 specimens. The results of SHPB test and numerical analysis show that the pulse shaper contributes to the dynamic stress equilibrium. Based on the improved stress equilibrium using a pulse shaper, the flow stress curves for copper and Al6061 materials were obtained at strain rates of 1344.4/sec and 1291.6/sec, respectively.