• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1939-1943
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• 1991

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal of this paper, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy[3] and a traveling salesman problem strategy(TSP)[23]. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Neural Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is proposed to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm[21] and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm[5].

• Journal of Korea Society of Industrial Information Systems
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• v.12 no.1
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• pp.46-53
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• 2007

NC (Numerical Control) code for the tool path needs to be generated efficiently for machining of free form pockets with arbitrary wall geometry on a three axis CNC machine. The unified rough and finish cut algorithm and the tool motion is graphically simulated in Part 1. In this paper, a grid based 3D navigation algorithm simulated in Part 1 for generating NC tool path data for both linear interpolation and a combination of linear and circular interpolation for three-axis CNC milling of general pockets with sculptured bottom surfaces is experimentally performed and verified.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.11 no.4
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• pp.37-44
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• 1991

A powerful analytical procedure and strain energy analysis to investigate the free vibration of antisymmetric cross-ply laminated plates, having one pair of opposite edges simply supported, are develped on the basis of the Yang, Norris abd Stavsky (YSN) theory. The equation of motion of the plate are solved by the use of collation method. A range of results are presented for plates to show the effects of modulus ratio and number of layers on natural frequency. In addition, an analysis of the strain energy distributions is used as an aid for the better understanding of the vibration characteristics of the plates.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.3
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• pp.452-460
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• 2002

The precision stage using a novel contact-free planar actuator based on magnetic farces, magnetized force and Lorentz farce, is suggested. In the promising magnetic structure, the mover is driven directly without any transmission mechanism, and doesn't need any auxiliary driver for its posture calibration. Then it is estimated that the proposed operating principle is very suitable for work requiring high accuracy and cleanness, or general-purpose nano-stage. In this paper, we discuss a driving principle of the planar system including the magnetic force generation mechanism, a framework for the force model, governing characteristics of the levitated plate, and a planar motion control of the constructed prototype. And experimental results are given to verify the derived theoretical model and a feasibility of the system.

• Archives of Reconstructive Microsurgery
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• v.16 no.1
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• pp.14-22
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• 2007

Perforator free flap (PFF) is currently a major reconstructive option for soft tissue reconstruction in adults. Although PFFs have been used commonly, most reconstructive surgeons still hesitate to perform PFFs in children. The main cause of concern is the perceived high failure rate related to the small diameter of children's perforator vessels. We present 8 consecutive cases of successful transfer of thoracodorsal artery (TDA) & anterolateral thigh (ALT) perforator flap in children. Between 2003 and 2005, 8 children(4 to 13 years old) with soft tissue defects of the extremities were reconstructed with TDA & ALT PFFs. All flaps completely survived. There were no problems relating to vascular spasm or occlusion. Range of motion of reconstructed extremities were fully recovered. Among 8 patients, only 1 patient was performed an additional flap thinning procedure. 8 cases of TDA & ALT perforator flaps were successfully transferred in children. PFF is an excellent option in reconstruction of children as well as in adults because of its thinness, long pedicle length, least donor site morbidity and acceptable donor site scar.

• Steel and Composite Structures
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• v.15 no.4
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• pp.379-397
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• 2013

Conoidal shells are doubly curved stiff surfaces which are easy to cast and fabricate due to their singly ruled property. Application of laminated composites in fabrication of conoidal shells reduces gravity forces and mass induced forces compared to the isotropic constructions due to the high strength to weight ratio of the material. These light weight shells are preferred in the industry to cover large column free open spaces. To ensure design reliability under service conditions, detailed knowledge about different behavioral aspects of conoidal shell is necessary. Hence, in this paper, static bending, free and forced vibration responses of composite conoidal shells are studied. Lagrange's equation of motion is used in conjunction with Hamilton's principle to derive governing equations of the shell. A finite element code using eight noded curved quadratic isoparametric elements is developed to get the solutions. Uniformly distributed load for static bending analysis and three different load time histories for solution of forced vibration problems are considered. Eight different stacking sequences of graphite-epoxy composite and two different boundary conditions are taken up in the present study. The study shows that relative performances of different shell combinations in terms of static behaviour cannot provide an idea about how they will relatively behave under dynamic loads and also the fact that the points of occurrence of maximum static and dynamic displacement may not be same on a shell surface.

• Steel and Composite Structures
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• v.26 no.4
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• pp.387-405
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• 2018

A novel higher shear deformation theory (HSDT) is proposed for the bending, buckling and free vibration investigations of isotropic and functionally graded (FG) sandwich plates. It contains only four variables, which is even less than the first shear deformation theory (FSDT) and the conventional HSDTs. The model accounts for a parabolic variation of transverse shear stress, respects the traction free boundary conditions and contrary to the conventional HSDTs, the present one presents a novel displacement field which incorporates undetermined integral terms. Equations of motion determined in this work are applied for three types of FG structures: FG plates, sandwich plates with FG core and sandwich plates with FG faces. Analytical solutions are given to predict the transverse displacements, stresses, critical buckling forces and natural frequencies of simply supported plates and a comparison study is carried out to demonstrate the accuracy of the proposed model.

• Smart Structures and Systems
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• v.22 no.1
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• pp.105-120
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• 2018

In this paper, the nonlinear free and forced vibration responses of sandwich nano-beams with three various functionally graded (FG) patterns of reinforced carbon nanotubes (CNTs) face-sheets are investigated. The sandwich nano-beam is resting on nonlinear Visco-elastic foundation and is subjected to thermal and electrical loads. The nonlinear governing equations of motion are derived for an Euler-Bernoulli beam based on Hamilton principle and von Karman nonlinear relation. To analyze nonlinear vibration, Galerkin's decomposition technique is employed to convert the governing partial differential equation (PDE) to a nonlinear ordinary differential equation (ODE). Furthermore, the Multiple Times Scale (MTS) method is employed to find approximate solution for the nonlinear time, frequency and forced responses of the sandwich nano-beam. Comparison between results of this paper and previous published paper shows that our numerical results are in good agreement with literature. In addition, the nonlinear frequency, force response and nonlinear damping time response is carefully studied. The influences of important parameters such as nonlocal parameter, volume fraction of the CNTs, different patterns of CNTs, length scale parameter, Visco-Pasternak foundation parameter, applied voltage, longitudinal magnetic field and temperature change are investigated on the various responses. One can conclude that frequency of FG-AV pattern is greater than other used patterns.

• Smart Structures and Systems
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• v.22 no.1
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• pp.121-132
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• 2018

This research investigates the free vibration analysis of advanced composite plates such as functionally graded plates (FGPs) resting on a two-parameter elastic foundations using a hybrid quasi-3D (trigonometric as well as polynomial) higher-order shear deformation theory (HSDT). This present theory, which does not require shear correction factor, accounts for shear deformation and thickness stretching effects by a sinusoidal and parabolic variation of all displacements across the thickness. Governing equations of motion for FGM plates are derived from Hamilton's principle. The closed form solutions are obtained by using Navier technique, and natural frequencies are found, for simply supported plates, by solving the results of eigenvalue problems. The accuracy of the present method is verified by comparing the obtained results with First-order shear deformation theory, and other predicted by quasi-3D higher-order shear deformation theories. It can be concluded that the proposed theory is efficient and simple in predicting the natural frequencies of functionally graded plates on elastic foundations.

• Wind and Structures
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• v.13 no.2
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• pp.169-189
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• 2010

This paper describes the use of coupled Computational Fluid Dynamics (CFD) and Rigid Body Dynamics (RBD) in modelling the aerodynamic behaviour of wind-borne plate type objects. Unsteady 2D and 3D Reynolds Averaged Navier-Stokes (RANS) CFD models are used to simulate the unsteady and non-uniform flow field surrounding static, forced rotating, auto-rotating and free-flying plates. The auto-rotation phenomenon itself is strongly influenced by vortex shedding, and the realisable k-epsilon turbulence modelling approach is used, with a second order implicit time advancement scheme and equal or higher order advection schemes for the flow variables. Sequentially coupling the CFD code with a RBD solver allows a more detailed modelling of the Fluid-Structure Interaction (FSI) behaviour of the plate and how this influences plate motion. The results are compared against wind tunnel experiments on auto-rotating plates and an existing 3D analytical model.