• International Journal of Precision Engineering and Manufacturing
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• 제6권2호
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• pp.61-71
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• 2005

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.651-656
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• 2014

This paper presents a compensation method for an accelerometer to measure acceleration data accurately when a robot manipulator moves slowly. Although the accelerometer works fine under the fast movement of a robot manipulator, low cost accelerometers provide relatively inaccurate acceleration data under slow movements. In order to correct the error of the sensor data in the slow motion, correction factors are obtained experimentally. Then those corrected data are used for the disturbance observer. Experimental studies of the position control of a robot manipulator are conducted by applying the DOB (Disturbance Observer) control using corrected acceleration data.

• Coupled systems mechanics
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• 제4권1호
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• pp.99-114
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• 2015

In this paper, a refined exponential shear deformation beam theory is developed for bending analysis of functionally graded beams. The theory account for parabolic variation of transverse shear strain through the depth of the beam and satisfies the zero traction boundary conditions on the surfaces of the beam without using shear correction factors. Contrary to the others refined theories elaborated, where the stretching effect is neglected, in the current investigation this so-called "stretching effect" is taken into consideration. The material properties of the functionally graded beam are assumed to vary according to power law distribution of the volume fraction of the constituents. Based on the present shear deformation beam theory, the equations of motion are derived from Hamilton's principle. Analytical solutions for static are obtained. Numerical examples are presented to verify the accuracy of the present theory.

• 한국기계연구소 소보
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• 통권19호
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• pp.93-115
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• 1989

Cerebellar Model Arithmetic Controller(CMAC) has been introduced as an adaptive control function generator. CMAC computes control functions referring to a distributed memory table storing functional values rather than by solving equations analytically or numerically. CMAC has a unique mapping structure as a coarse coding and supervisory delta-rule learning property. In this paper, learning aspects and a convergence of the CMAC were investigated. The efficient training algorithms were developed to overcome the limitations caused by the conventional maximum error correction training and to eliminate the accumulated learning error caused by a sequential node training. A nonlinear function generator and a motion generator for a two d. o. f. manipulator were simulated. The efficiency of the various learning algorithms was demonstrated through the cpu time used and the convergence of the rms and maximum errors accumulated during a learning process; A generalization property and a learning effect due to the various gains were simulated. A uniform quantizing method was applied to cope with various ranges of input variables efficiently.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 춘계학술대회
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• pp.510-511
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• 2017

본 논문에서는 척추 관련 질환을 예방하고, 잘못된 자세를 사용자에게 피드백하여 자세교정에 도움을 주기 위한 연구를 수행하였다. 이를 위해 키넥트 센서를 사용하였으며, 사용자의 움직임을 측정하기 위해 골격 데이터 좌표 값을 인덱스 화하여 움직임 변화정도를 측정하였다. 구현된 시스템은 자세판별 뿐만 아니라 사용자의 산만도 모니터링이 가능함을 확인하였다.

• Wind and Structures
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• 제23권1호
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• pp.59-73
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• 2016

In this paper, a hyperbolic shear deformation beam theory is developed for free vibration analysis of functionally graded (FG) sandwich beams. The theory account for higher-order variation of transverse shear strain through the depth of the beam and satisfies the zero traction boundary conditions on the surfaces of the beam without using shear correction factors. The material properties of the functionally graded sandwich beam are assumed to vary according to power law distribution of the volume fraction of the constituents. The core layer is still homogeneous and made of an isotropic material. Based on the present refined beam theory, the equations of motion are derived from Hamilton's principle. Navier type solution method was used to obtain frequencies. Illustrative examples are given to show the effects of varying gradients and thickness to length ratios on free vibration of functionally graded sandwich beams.

• Wind and Structures
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• 제21권3호
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• pp.273-287
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• 2015

In this paper, a free vibration analysis of functionally graded beam made of porous material is presented. The material properties are supposed to vary along the thickness direction of the beam according to the rule of mixture, which is modified to approximate the material properties with the porosity phases. For this purpose, a new displacement field based on refined shear deformation theory is implemented. The theory accounts for parabolic distribution of the transverse shear strains and satisfies the zero traction boundary conditions on the surfaces of the beam without using shear correction factors. Based on the present refined shear deformation beam theory, the equations of motion are derived from Hamilton's principle. The rule of mixture is modified to describe and approximate material properties of the FG beams with porosity phases. The accuracy of the present solutions is verified by comparing the obtained results with the existing solutions. Illustrative examples are given also to show the effects of varying gradients, porosity volume fraction, aspect ratios, and thickness to length ratios on the free vibration of the FG beams.

• Geomechanics and Engineering
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• 제9권3호
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• pp.361-372
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• 2015

In this paper, a refined exponential shear deformation theory for free vibration analysis of functionally graded beam with considering porosities that may possibly occur inside the functionally graded materials (FGMs) during their fabrication. For this purpose, a new displacement field based on refined shear deformation theory is implemented. The theory accounts for parabolic distribution of the transverse shear strains and satisfies the zero traction boundary conditions on the surfaces of the beam without using shear correction factors. Based on the present refined shear deformation beam theory, the equations of motion are derived from Hamilton's principle. The rule of mixture is modified to describe and approximate material properties of the FG beams with porosity phases. The accuracy of the present solutions is verified by comparing the obtained results with the existing solutions. Illustrative examples are given also to show the effects of varying gradients, porosity volume fraction, aspect ratios, and thickness to length ratios on the free vibration of the FG beams.

• Steel and Composite Structures
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• 제22권3호
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• pp.473-495
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• 2016

This work presents a bending, buckling, and vibration analysis of functionally graded plates by employing a novel higher-order shear deformation theory (HSDT). This theory has only four unknowns, which is even less than the first shear deformation theory (FSDT). A shear correction coefficient is, thus, not needed. Unlike the conventional HSDT, the present one has a new displacement field which introduces undetermined integral variables. Equations of motion are obtained by utilizing the Hamilton's principles and solved via Navier's procedure. The convergence and the validation of the proposed theoretical numerical model are performed to demonstrate the efficacy of the model.

• Structural Engineering and Mechanics
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• 제66권3호
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• pp.369-377
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• 2018

In this article, buckling and free vibration of functionally graded (FG) nanobeams resting on elastic foundation are investigated by developing various higher order beam theories which capture shear deformation influences through the thickness of the beam without the need for shear correction factors. The elastic foundation is modeled as linear Winkler springs as well as Pasternak shear layer. The material properties of FG nanobeam are supposed to change gradually along the thickness through the Mori-Tanaka model. The small scale effect is taken into consideration based on nonlocal elasticity theory of Eringen. From Hamilton's principle, the nonlocal governing equations of motion are derived and then solved applying analytical solution. To verify the validity of the developed theories, the results of the present work are compared with those available in literature. The effects of shear deformation, elastic foundation, gradient index, nonlocal parameter and slenderness ratio on the buckling and free vibration behavior of FG nanobeams are studied.