• Journal of the Korean Society for Precision Engineering
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• v.14 no.11
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• pp.34-41
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• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• Structural Engineering and Mechanics
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• v.59 no.6
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• pp.1139-1153
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• 2016

Elastic constraints are usually simplified as "spring forces" exerted on beam ends without considering the "spring deformation". The partial differential equation governing the free vibrations of a cantilever Bernoulli-Euler beam considering the deformation of elastic constraints is firstly established, and is nondimensionalized to obtain two dimensionless factors, $k_v$ and $k_r$, describing the effects of elastically vertical and rotational end constraints, respectively. Then the frequency equation for the above Bernoulli-Euler beam model is derived using the method of separation of variables. A numerical analysis method is proposed to solve the transcendental frequency equation for the continuous change of the frequency with $k_v$ and $k_r$. Then the mode shape functions are given. Finally, effects of $k_v$ and $k_r$ on free vibration characteristics of the beam with different slenderness ratios are calculated and analyzed. The results indicate that the effects of $k_v$ are larger on higher-order free vibration characteristics than on lower-order ones, and the impact strength decreases with slenderness ratio. Under a relatively larger slenderness ratio, the effects of $k_v$ can be neglected for the fundamental frequency characteristics, while cannot for higher-order ones. However, the effects of $k_r$ are large on both higher- and lower-order free vibration characteristics, and cannot be neglected no matter the slenderness ratio is large or small.

• Structural Engineering and Mechanics
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• v.37 no.6
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• pp.671-684
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• 2011

Deciding on an optimal sensor placement (OSP) is a common problem encountered in many engineering applications and is also a critical issue in the construction and implementation of an effective structural health monitoring (SHM) system. The present study focuses with techniques for selecting optimal sensor locations in a sensor network designed to monitor the health condition of Dalian World Trade Building which is the tallest in the northeast of China. Since the number of degree-of-freedom (DOF) of the building structure is too large, multi-modes should be selected to describe the dynamic behavior of a structural system with sufficient accuracy to allow its health state to be determined effectively. However, it's difficult to accurately distinguish the translational and rotational modes for the flexible structures with closely spaced modes by the modal participation mass ratios. In this paper, a new method of the OSP that computing the mode shape matrix in the weak axis of structure by the simplified multi-DOF system was presented based on the equivalent rigidity parameter identification method. The initial sensor assignment was obtained by the QR-factorization of the structural mode shape matrix. Taking the maximum off-diagonal element of the modal assurance criterion (MAC) matrix as a target function, one more sensor was added each time until the maximum off-diagonal element of the MAC reaches the threshold. Considering the economic factors, the final plan of sensor placement was determined. The numerical example demonstrated the feasibility and effectiveness of the proposed scheme.

• Structural Monitoring and Maintenance
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• v.8 no.4
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• pp.345-360
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• 2021

This paper presents an analytical approach to calculate the buckling load of the cylindrical ring structures subjected to both hydrostatic and hydrodynamic pressures. Based on the conservative law of energy and Timoshenko beam theory, a theoretical formula, which can be used to evaluate the critical pressure of buckling, is first derived for the simplified cylindrical ring structures. It is assumed that the hydrodynamic pressure can be treated as an equivalent hydrostatic pressure as a cosine function along the perimeter while the thickness ratio is limited to 0.2. Note that this paper limits the deformed shape of the cylindrical ring structures to an elliptical shape. The proposed analytical solutions are then compared with the numerical simulations. The critical pressure is evaluated in this study considering two possible failure modes: ultimate failure and buckling failure. The results show that the proposed analytical solutions can correctly predict the critical pressure for both failure modes. However, it is not recommended to be used when the hydrostatic pressure is low or medium (less than 80% of the critical pressure) as the analytical solutions underestimate the critical pressure especially when the ultimate failure mode occurs. This implies that the proposed solutions can still be used properly when the subsea vehicles are located in the deep parts of the ocean where the hydrostatic pressure is high. The finding will further help improve the geometric design of subsea vehicles against both hydrostatic and hydrodynamic pressures to enhance its strength and stability when it moves underwater. It will also help to control the speed of the subsea vehicles especially they move close to the sea bottom to prevent a catastrophic failure.

• Advances in aircraft and spacecraft science
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• v.4 no.6
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• pp.613-637
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• 2017

The development systems for the Structural Health Monitoring has attracted considerable interest from several engineering fields during the last decades and more specifically in the aerospace one. In fact, the introduction of those systems could allow the transition of the maintenance strategy from a scheduled basis to a condition-based approach providing cost benefits for the companies. The research presented in this paper consists of a definition and next comparison of four methods applied to numerical measurements for the extraction of damage features. The first method is based on the determination of the Structural Intensity field at the on-resonance condition in order to acquire information about the dissipation of vibrational energy throughout the structure. The Damage Quantification Indicator and the Average Integrated Global Amplitude Criterion methods need the evaluation of the Frequency Response Function for a healthy plate and a damaged one. The main difference between these two parameters is their mathematical definition and therefore the accuracy of the scalar values provided as output. The fourth and last method is based on the Mode-shape Curvature, a FRF-based technique which requires the application of particular finite-difference schemes for the derivation of the curvature of the plate. All the methods have been assessed for several damage conditions (the shape, the extension and the intensity of the damage) on two test plates: an isotropic (steel) plate and a 4-plies composite plate.

• Journal of the Korean Academy of Esthetic Dentistry
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• v.8 no.1
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• pp.96-103
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• 1999

Restoration of missing oral tissues by using implant therapy is one of viable options in prosthodontic treatment. The purpose of oral rehabilitation are function, esthetics and phonetics. Recently, with the increasing esthetic demand of the patient, dentists and laboratory technicians are more concern ed about natural appearance of implant prostheses. There are so many factors which affect final esthetic results of treatment such a shape, color, proportion, gingival contour etc. To provide natural and vivid looking artificial prostheses to a patient, the careful diagnosis, treatment plan and laboratory Support is crucial. Several cases will be reviewed and discussed in terms of material, gingival shape, contour, speech and connection mode etc. to fabricate natural looking implant prostheses.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.431-434
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• 2005

Generally, noise in a reciprocating compressor is attributed to the driving force of a pump. However, close examination shows that the noise heard by customers finally results from radiation of a shell in a compressor, the noise caused by both transmission through a shell and resonance with the natural frequency of a shell. Therefore, the peak frequencies contributing to the overall level of a compressor' noise are closely concerned with vibration of a shell. That's why radiated noise by vibration can be reduced by changing the mode of a shell and by shifting the peak frequencies to other ranges, which are not globally related with the overall noise level. In this paper, the main peak frequencies are analyzed to reduce the radiated noise of a shell, and the vibration characteristics of a shell are examined through Frequency Response Function and Finite Element Analysis. Moreover, the Operational Deflection Shape for a shell is measured with consideration of real driving force of a pump. Finally, the optimum position on a shell, closely related to the main peak frequencies, is found, and the overall noise level caused by radiated noise of a shell is noticeably reduced by mass or stiffness modification of the position.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.1
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• pp.29-37
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• 2012

This paper is concerned with the natural vibration characteristics of a rectangular plate with a rectangular hole in contact with the water. The addressed problem was solved by using the Rayleigh-Ritz method combined with the Green function method. This study presents the numerical approach, numerical results and experimental results. In addition, the validity of the approximate formula which mainly depends on the so-called non-dimensionalized added virtual mass incremental factor and the natural mode shape change due to the presence of the water were investigated. Experiments were also carried out to validate theoretical results. The theoretical results are in good agreement with the experimental results. It was found that the effect of a square hole on the natural frequencies of the square plate in contact with water is different from the effect of a square hole on the natural frequencies of the square plate in air and the approximate formula can predict lower natural frequencies in water with a good accuracy.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.188-193
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• 1998

This paper describes static and dynamic weak point analysis of spindle systems to eliminate high concentrated bending point on spindle and improve total stiffness of spindle systems. The weak point analysis is based on the evaluation of bending curves of spindles. For static weak point analysis the bending curve is derived from static deflection curve and for dynamic weak point analysis it is derived from the mode shape curves in consideration of the transfer function at exciting point. The validity of the weak point search methodology is verified by comparison of the static deflection, the natural frequency and the dynamic compliance between the original and the improved spindle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.224-229
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• 1997

This paper compares the control techniques for position control experiments of a fixible robot moving in a vertical plane. The flexible manipulator is modeled as an Euler-beroulli beam. Elastic deformantion is representedusing the assumed model method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. Control schemes are developed using PID control,pole placement control and discrete Linear Quadratic Regulater(LQQ). The effectiveness of the developed control schems are compared using computer simulation in view of practical experiment. The simulation results show that PID control is very effective in practical implementation.