• Journal of the Optical Society of Korea
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• v.8 no.3
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• pp.137-146
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• 2004

A new method of obtaining the eigenmode of an anisotropic planar waveguide is studied. The planar waveguide can be composed of an arbitrary number of isotropic or uniaxially anisotropic layers, provided all the optical axes arc lying in the incidence plane. Since the equation of motion for the TE mode is not different from that for the TE mode in an isotropic planar waveguide, only the equation of motion for the TM mode is of any concern. For this kind of device structure, the Maxwell's equations can be solved for one component of the electric field and one component of the magnetic field. The resulting coupled set of equations is linear in the propagation constant and the eigenmode can be easily obtained using canned numerical routines.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.7
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• pp.862-871
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• 2003

In this paper, we addressed a modeling for the magnetic levitation stage. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for propulsion. Therefore. this stage can generate six degrees of freedom motion by the combination of forces. We derived a mechanical dynamics equation using Lagrangian method and electromechanical dynamics equation by using Co-energy method. Based on the derived dynamics, we can analyze the stage motion that is subject to the input currents and forces.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Structural Engineering and Mechanics
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• v.74 no.1
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• pp.1-18
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• 2020

For the large deformation of shear walls under vertical and horizontal loads, there are difficulties in obtaining accurate simulation results using the response analysis method, even with fine mesh elements. Furthermore, concrete material nonlinearity, stiffness degradation, concrete cracking and crushing, and steel bar damage may occur during the large deformation of reinforced concrete (RC) shear walls. Matrix operations that are involved in nonlinear analysis using the traditional finite-element method (FEM) may also result in flaws, and may thus lead to serious errors. To solve these problems, a planar four-node element was developed based on vector mechanics. Owing to particle-based formulation along the path element, the method does not require repeated constructions of a global stiffness matrix for the nonlinear behavior of the structure. The nonlinear concrete constitutive model and bilinear steel material model are integrated with the developed element, to ensure that large deformation and damage behavior can be addressed. For verification, simulation analyses were performed to obtain experimental results on an RC shear wall subjected to a monotonically increasing lateral load with a constant vertical load. To appropriately evaluate the parameters, investigations were conducted on the loading speed, meshing dimension, and the damping factor, because vector mechanics is based on the equation of motion. The static problem was then verified to obtain a stable solution by employing a balanced equation of motion. Using the parameters obtained, the simulated pushover response, including the bearing capacity, deformation ability, curvature development, and energy dissipation, were found to be in accordance with the experimental observation. This study demonstrated the potential of the developed planar element for simulating the entire process of large deformation and damage behavior in RC shear walls.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1996.04a
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• pp.111-118
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• 1996

Dynamic load models which show the practical behavior of truss bridge subjected to moving train load are presented. Three basically approaches are available for evaluating structural response to dynamic effects : moving force, moving mass, and influence moving force and mass. Simple warren truss bridge model is selected in this research, and idealized lumped mass system, modelled as a planar structure. In the process of dynamic analysis, the uncoupled equation of motion is derived from simultaneous equation of the motion of truss bridge and moving train load. The solution of the uncoupled equations of motion is solved by Newmark-$\beta$ method. The results show that dynamic response of moving mass and static analysis considering the impact factor specified in the present railway bridge code was nearly the same. Generally, the dynamic response of moving force is somewhat greater than that of moving mass. The dynamic load models which are presented by this study are obtained relatively adequate load model when apply to a truss bridge.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.688-698
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• 2012

This paper deals with ROLSO (Reduced Order Luenberger State Observer) design to prevent jackknifing phenomenon of articulated vehicles consisting of the tractor and semi-trailer by using GPS. In addition, by applying the regulator system using ROLSO feedback system, simulation's result presents that articulated vehicle's states are stabilized than the human's PR time (Preception Response time) rapidly. This simulation verifies that the automatic control of articulated vehicle's can be applied for the accident prevention for the time that the driver is unable to manage with the sudden accident. For this simulation, by using the equation of planar motion, the modeling of the articulated vehicle was performed. This modeling was expressed in the state space model. And FOLSO (Full Order Luenberger State Observer), ROLSO were designed by using the state space model of an articulated vehicle's dynamics.

• Ocean Systems Engineering
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• v.10 no.3
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• pp.333-357
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• 2020

International Maritime Organisation (IMO) regulations insist on reduced emission of CO₂, noxious and other environmentally dangerous gases from ship, which are usually let out while burning fossil fuel for running its propulsive machinery. Contrallability of ship during sailing has a direct implication on its course keeping and changing ability, and tries to have an optimised routing. Bad coursekeeping ability of a ship may lead to frequent use of rudder and resulting changes in the ship's drift angle. Consequently, it increases vessels resistance and also may lead to longer path for its journey due to zigzag movements. These adverse effects on the ship journey obviously lead to the increase in fuel consumption and higher emission. Hence, IMO has made it mandatory to evaluate the manoeuvring qualities of a ship at the designed stage itself. In this paper a numerical horizontal planar motion mechanism is simulated in CFD environment and from the force history, the hydrodynamic derivatives appearing in the manoeuvring equation of motion of a ship are estimated. These derivatives along with propeller thrust and rudder effects are used to simulate different standard manoeuvres of the vessel and check its parameters against the IMO requirements. The present study also simulates these manoeuvres by using numerical free running model for the same ship. The results obtained from both these studies are presented and discussed here.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 한국연소학회:학술대회논문집
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• 1998.10a
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• pp.139-154
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• 1998

Under certain circumstance, premixed turbulent flame can be treated as wrinkled thin laminar flame and its motion in a hydrodynamic flow field has been investigated by employing G-equation. Past studies on G-equation successfully described certain aspects of laminar flame propagation such as effects of stretch on flame speed. In those studies, flames were regarded as a passive interface that does not influence the flow field. The experimental evidences, however, indicate that flow field can be significantly modified by the propagation of flames through the volume expansion of burned gas. In the present study, a new method to be used with G -equation is described to include the effect of volume expansion in the flame dynamics. The effect of volume expansion on the flow field is approximated by Biot-Savart law. The newly developed model is validated by comparison with existing analytical solutions of G -equation to predict flames propagating in hydrodynamic flow field without volume expansion. To further investigate the influence of volume expansion, present method was applied to initially wrinkled or planar flame propagating in an imposed velocity field and the average flame speed was evaluated from the ratio of flame surface area and projected area of unburned stream channel. It was observed that the initial wrinkling of flame cannot sustain itself without velocity disturbance and wrinkled structure decays into planar flame as the flame propagates. The rate of decay of the structure increased with volume expansion. The asymptotic change in the average burning speed occurs only with disturbed velocity field. Because volume expansion acts directly on the velocity field, the average burning speed is affected at all time when its effect is included. With relatively small temperature ratio of 3, the average flame speed increased 10%. The combined effect of volume expansion and flame stretch is also considered and the result implied that the effect of stretch is independent of volume release.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.