• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• 대한토목학회논문집
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• 제29권6A호
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• pp.617-624
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• 2009

이 논문은 선형 변단면 정확탄성곡선형 아치의 자유진동에 관한 연구이다. 정확탄성곡선형 아치의 선형은 Bernoulli-Euler 보 이론을 이용하여 산정하였다. 이러한 선형을 갖는 아치의 자유진동을 지배하는 미분방정식을 유도하고 이를 수치해석하여 무차원 고유진동수를 산출하였다. 수치해석 예에서는 세 종류의 선형 변단면과 두 종류의 지점조건을 채택하였다. 이 연구의 결과를 검증하기 위하여 이 연구와 SAP 2000의 고유진동수를 비교하였다. 수치해석의 결과로 지점조건, 변단면 형상, 세장비 및 단면비가 최저차 4개의 무차원 고유진동수에 미치는 영향을 분석하였다.

• 한국해양환경ㆍ에너지학회지
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• 제12권3호
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• pp.165-172
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• 2009

연직 2차원 평면을 대상으로 하는 연속방정식을 수심방향으로 이중적분 하여 수평1차원 파랑방정식을 구하였다. 새 방정식은 복소수 포텐셜 함수로 구성되어 있으며, 파랑의 진폭과 위상경사함수를 도입하여 한 세트의 실수방정식으로도 변형되었다. 파랑진폭과 위상경사함수를 포함한 한 세트의 식은 각각 1차, 2차 상미분방정식이며, 한쪽 경계에서 경계조건을 적절히 지정하여 전 영역에서의 해를 한 방향으로 진행하면서 구할 수 있다. 이때 경계조건으로는 파랑진폭 값, 파랑진폭의 경사, 위상 경사 값이다. 단순한 중앙차분식을 이용하여 식을 차분화 하였다. 새 방정식을 Booij의 경사판, Massel의 부드러운 저면, Bragg의 싸인 함수의 저면에 대하여 적용하여 보았다. 본 방정식은 Massel의 수정완경사방정식, Berkhoff의 완경사방정식, 완전 선형방정식과 비교하여 유사한 결과를 나타내었으며, 유용함을 보였다.

• 천문학회지
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• 제35권1호
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• pp.41-57
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• 2002

We have written a code called QDM_sca, which numerically solves the problem of radiative transfer in an anisotropically scattering, spherical atmosphere. First we formulate the problem as a second order differential equation of a quasi-diffusion type. We then apply a three-point finite differencing to the resulting differential equation and transform it to a tri-diagonal system of simultaneous linear equations. After boundary conditions are implemented in the tri-diagonal system, the QDM_sca radiative code fixes the field of specific intensity at every point in the atmosphere. As an application example, we used the code to calculate the brightness of atmospheric diffuse light(ADL) as a function of zenith distance, which plays a pivotal role in reducing the zodiacal light brightness from night sky observations. On the basis of this ADL calculation, frequent uses of effective extinction optical depth have been fully justified in correcting the atmospheric extinction for such extended sources as zodiacal light, integrated starlight and diffuse galactic light. The code will be available on request.

• 대한기계학회논문집
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• 제16권11호
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• pp.2098-2110
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• 1992

본 연구에서는 중간평면의 비선형 신장을 고려한 원판의 강제진동을 해석하기 위해 Fig.1과 같은 경계조건 즉 꺽쇠로 고정된(clamped) 경우를 생각한다.이 경우 에 고유진동수 사이엔 .omega.$_{1}$＋2.omega.$_{2}$＝.omega.$_{3}$의 관계가 존재하는데 이 관계가 내부공진 조건이 됨이 입증된다. 원판에 작용하는 가진력으로는 조화가진을 가정하 고 가진진동수가 2.omega.$_{1}$＋.omega.$_{2}$에 가까운 경우 즉 조합공진(combination reso- nance)일 때를 고려한다.

• Structural Engineering and Mechanics
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• 제59권2호
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• pp.343-371
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• 2016

In this paper thermo-mechanical vibration analysis of a porous functionally graded (FG) Timoshenko beam in thermal environment with various boundary conditions are performed by employing a semi analytical differential transform method (DTM) and presenting a Navier type solution method for the first time. The temperature-dependent material properties of FG beam are supposed to vary through thickness direction of the constituents according to the power-law distribution which is modified to approximate the material properties with the porosity phases. Also the porous material properties vary through the thickness of the beam with even and uneven distribution. Two types of thermal loadings, namely, uniform and linear temperature rises through thickness direction are considered. Derivation of equations is based on the Timoshenko beam theory in order to consider the effect of both shear deformation and rotary inertia. Hamilton's principle is applied to obtain the governing differential equation of motion and boundary conditions. The detailed mathematical derivations are presented and numerical investigations are performed while the emphasis is placed on investigating the effect of several parameters such as porosity distributions, porosity volume fraction, thermal effect, boundary conditions and power-low exponent on the natural frequencies of the FG beams in detail. It is explicitly shown that the vibration behavior of porous FG beams is significantly influenced by these effects. Numerical results are presented to serve benchmarks for future analyses of FG beams with porosity phases.

• Advances in Computational Design
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• 제7권1호
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• pp.1-17
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• 2022

In this study, a new strategy is presented to transmit the fundamental elastic beam problem into the modern optimization platform and solve it by using artificial intelligence (AI) tools. As a practical example, deflection of Euler-Bernoulli beam is mathematically formulated by 2nd-order ordinary differential equations (ODEs) in accordance to the classical beam theory. This fundamental engineer problem is then transmitted from classic formulation to its artificial-intelligence presentation where the behavior of the beam is simulated by using neural networks (NNs). The supervised training strategy is employed in the developed NNs implemented in the heuristic optimization algorithms as the fitness function. Different evolutionary optimization tools such as genetic algorithm (GA) and particle swarm optimization (PSO) are used to solve this non-linear optimization problem. The step-by-step procedure of the proposed method is presented in the form of a practical flowchart. The results indicate that the proposed method of using AI toolsin solving beam ODEs can efficiently lead to accurate solutions with low computational costs, and should prove useful to solve more complex practical applications.

• Steel and Composite Structures
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• 제47권5호
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• pp.569-585
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• 2023

This paper proposes an efficient approach for the structural topology optimization of bi-directional functionally graded structures by incorporating popular radial basis functions (RBFs) into an implicit level set (ILS) method. Compared to traditional element density-based methods, a level set (LS) description of material boundaries produces a smoother boundary description of the design. The paper develops RBF implicit modeling with multiquadric (MQ) splines, thin-plate spline (TPS), exponential spline (ES), and Gaussians (GS) to define the ILS function with high accuracy and smoothness. The optimization problem is formulated by considering RBF-based nodal densities as design variables and minimizing the compliance objective function. A LS-RBF optimization method is proposed to transform a Hamilton-Jacobi partial differential equation (PDE) into a system of coupled non-linear ordinary differential equations (ODEs) over the entire design domain using a collocation formulation of the method of lines design variables. The paper presents detailed mathematical expressions for BiDFG beams topology optimization with two different material models: continuum functionally graded (CFG) and mechanical functionally graded (MFG). Several numerical examples are presented to verify the method's efficiency, reliability, and success in accuracy, convergence speed, and insensitivity to initial designs in the topology optimization of two-dimensional (2D) structures. Overall, the paper presents a novel and efficient approach to topology optimization that can handle bi-directional functionally graded structures with complex geometries.

• 한국강구조학회 논문집
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• 제13권6호
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• pp.683-691
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• 2001

이 논문은 전단변형을 고려한 일정체적 기둥의 좌굴하중 및 후좌굴 거동에 관한 연구이다. 본 연구에서 해석대상 기둥은 일정체적을 갖고 길이가 항상 일정한 변단면 탄성기둥을 택하였다. 실제의 이론 전개에서는 변단면의 단면깊이가 직선, 포물선, 정현식으로 변화하는 정다각형 단면의 변단면 기둥을 채택하였다. 일정체적 변단면 기둥의 후좌굴 거동을 지배하는 상미분방정식을 유도하고, 유도된 미분방정식을 수치해석할 수 있는 컴퓨터 프로그램을 개발하였다. 주어진 기둥의 수치해석 해를 얻기 위하여 Runge-Kutta법을 사용하여 상미분방정식을 수치적분하고, 기둥의 미지수인 좌측 단부에서의 회전각 및 좌굴하중은 Regula-Falsi법을 이용하여 산출하였다.

• Structural Engineering and Mechanics
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• 제22권3호
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• pp.371-399
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• 2006

The theoretical background and capabilities of the developed program, SAR-CWF, for stochastic analysis of 3D reinforced-concrete shear wall-frame structures subject to seismic excitations is presented. Incremental stiffness and strength properties of system members are modeled by extended Roufaiel-Meyer hysteretic relation for bending while shear deformations for walls by Origin-Oriented hysteretic model. For the critical height of shear-walls, division to sub-elements is performed. Different yield capacities with respect to positive and negative bending, finite extensions of plastic hinges and P-${\delta}$ effects are considered while strength deterioration is controlled by accumulated hysteretic energy. Simulated strong motions are obtained from a Gaussian white-noise filtered through Kanai-Tajimi filter. Dynamic equations of motion for the system are formed according to constitutive and compatibility relations and then inserted into equivalent It$\hat{o}$-Stratonovich stochastic differential equations. A system reduction scheme based on the series expansion of eigen-modes of the undamaged structure is implemented. Time histories of seismic response statistics are obtained by utilizing the computer programs developed for different types of structures.