• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.44-52
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• 1990

A collision-free trajectory planning for two robots with designated paths is considered. The proposed method is based on the concept of decomposing the planning problem into two steps: one is determining coordination of two robots, and the other is velocity planning with determined coordination. Dynamics and maximum allowable joint velocities are also taken into consideration in the whole planning process. The proposed algorithm is converted into numerical calculation version based on neural optimization network. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robot in common workspace is illustrated.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.6
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• pp.1487-1494
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• 1990

In this paper the dynamic characteristics of self acting air lubricated slider bearing of hard disk/head system are investigated. The dynamic equations of magnetic head mechanism considering both parallel and pitch motion and the time dependent modified Reynolds equation are analyzed and the dynamic pressure distribution of air film is numerically calculated in frequency domain by small perturbation method and finite difference scheme with variable grid. The dynamic response of the slider spacing is obtained accordingly as the moving recording surface vibrates in parallel mode.

• Structural Engineering and Mechanics
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• v.65 no.1
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• pp.19-31
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• 2018

In this paper, a new quasi-3D sinusoidal shear deformation theory for functionally graded (FG) plates is proposed. The theory considers both shear deformation and thickness-stretching influences by a trigonometric distribution of all displacements within the thickness, and respects the stress-free boundary conditions on the upper and lower faces of the plate without employing any shear correction coefficient. The advantage of the proposed model is that it posses a smaller number of variables and governing equations than the existing quasi-3D models, but its results compare well with those of 3D and quasi-3D theories. This benefit is due to the use of undetermined integral unknowns in the displacement field of the present theory. By employing the Hamilton principle, equations of motion are obtained in the present formulation. Closed-form solutions for bending and free vibration problems are determined for simply supported plates. Numerical examples are proposed to check the accuracy of the developed theory.

• Steel and Composite Structures
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• v.28 no.6
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• pp.749-758
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• 2018

Free axial vibration of axially functionally graded (AFG) nanorods is studied by focusing on the inertia of lateral motions and shear stiffness effects. To this end, Bishop's theory considering the inertia of the lateral motions and shear stiffness effects and the nonlocal theory considering the small scale effect are used. The material properties are assumed to change continuously through the length of the AFG nanorod according to a power-law distribution. Then, nonlocal governing equation of motion and boundary conditions are derived by implementing the Hamilton's principle. The governing equation is solved using the harmonic differential quadrature method (HDQM), After that, the first five axial natural frequencies of the AFG nanorod with clamped-clamped end condition are obtained. In the next step, effects of various parameters like the length of the AFG nanorod, the diameter of the AFG nanorod, material properties, and the nonlocal parameter value on natural frequencies are investigated. Results of the present study can be useful in more accurate design of nano-electro-mechanical systems in which nanotubes are used.

• Advances in nano research
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• v.9 no.4
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• pp.237-250
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• 2020

An accurate plate theory for assessing sandwich structures is of interest in order to provide precise results. Hence, this paper develops Layer-Wise (LW) theory for reaching precise results in terms of buckling and vibration behavior of Functionally Graded Carbon Nanotube-Reinforced Composite (FG-CNTRC) annular nanoplates. Furthermore, for simulating the structure much more realistic, its edges are elastically restrained against in-plane and transverse displacement. The nano structure is integrated with piezoelectric layers. Four distributions of Single-Walled Carbon Nanotubes (SWCNTs) along the thickness direction of the core layer are investigated. The Differential Quadrature Method (DQM) is utilized to solve the motion equations of nano structure subjected to the electric field. The influence of various parameters is depicted on both critical buckling load and frequency of the structure. The accuracy of solution procedure is demonstrated by comparing results with classical edge conditions. The results ascertain that the effects of different distributions of CNTs and their volume fraction are significant on the behavior of the system. Furthermore, the amount of in-plane and transverse spring coefficients plays an important role in the buckling and vibration behavior of the nano-structure and optimization of nano-structure design.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.79-84
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• 1992

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 optimal 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, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). 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 Hopfield 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 used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1121-1126
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• 2014

To compensate location error of ultrasonic horn, the laser scanning system based on the galvanometer scanner is developed. It consists of the 3-Axis linear stage and the 2-Axis galvanometer scanner. To measure surface shape of three-dimensional free form surface, the dynamic focusing unit is adopted, which can maintain consistent focal plane. With combining the linear stage and the galvanometer scanner, the scanning area is enlarged. The scanning CAD system is developed by stage motion teaching and NURBS method. The laser scanning system is tested by marking experiment with the semi-cylindrical sample. Scanning accuracy is investigated by measured laser marked line width with various scanning speed.

• Journal of the Korean Society of Visualization
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• v.10 no.3
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• pp.21-24
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• 2012

Although the motion of the three-phase contact line on a solid substrate has been extensively studied thus far, the understanding of the dynamics of the contact line of liquid/liquid/gas phases is far from complete. Here we deposit a drop of isopropyl alcohol (IPA) on water and HFE-7100 whose free surfaces are exposed to air to observe the flow field around the contact line. By combining the shadowgraph and high-speed imaging techniques, we find that vortices are spontaneously generated at the contact line, which grow in size with time. The flow is attributed to the Marangoni stress that pulls a liquid of lower-surface tension toward a liquid surface having a higher surface tension. However, it is not still clear why the entrained lower-surface-tension liquid should whirl rapidly beneath the contact line. We also visualize the flow by the particle image velocimetry (PIV) to find out that the rotational velocity reaches the order of 1 mm/s near the free surface.

• Journal of Ocean Engineering and Technology
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• v.32 no.4
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• pp.228-236
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• 2018

The performance of a porous swash bulkhead for the reduction of the resonant liquid motion in a swaying rectangular tank was investigated based on the assumption of linear potential theory. The Galerkin method (Porter and Evans, 1995) was used to solve the potential flow model by adding a viscous frictional damping term to the free-surface condition. By comparing the experimental results and the analytical solutions, we verified that the frictional damping coefficient was 0.4. Darcy's law was used to consider the energy dissipation at a porous bulkhead. The tool that was developed with a built-in frictional damping coefficient of 0.4 was confirmed by small-scale experiments. Using this tool, the free-surface elevation, hydrodynamic force (added mass, damping coefficient) on a wall, and the horizontal load on a bulkhead were assessed for various combinations of porosity and submergence depth. It was found that the vertical porous bulkhead can suppress sloshing motions significantly when properly designed and by selecting the appropriate porosity(${\approx}0.1$) and submergence depth.

• Structural Engineering and Mechanics
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• v.26 no.1
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• pp.1-14
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• 2007

Because of complexity, the literature regarding the free vibration analysis of a Timoshenko beam carrying "multiple" spring-mass systems is rare, particular that regarding the "exact" solutions. As to the "exact" solutions by further considering the joint terms of shear deformation and rotary inertia in the differential equation of motion of a Timoshenko beam carrying multiple concentrated attachments, the information concerned is not found yet. This is the reason why this paper aims at studying the natural frequencies and mode shapes of a uniform Timoshenko beam carrying multiple intermediate spring-mass systems using an exact as well as a numerical assembly method. Since the shear deformation and rotary inertia terms are dependent on the slenderness ratio of the beam, the shear coefficient of the cross-section, the total number of attachments and the support conditions of the beam, the individual and/or combined effects of these factors on the result are investigated in details. Numerical results reveal that the effect of the shear deformation and rotary inertia joint terms on the lowest five natural frequencies of the combined vibrating system is somehow complicated.