• Structural Engineering and Mechanics
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• v.71 no.5
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• pp.553-562
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• 2019

This paper presents the results of a study into the dynamic behaviour of a support structure of a mobile elevating work platform. The vibrations of the mechanical system of the observed structure are examined analytically, numerically, and experimentally. Within the analytical examination, a simple mathematical model is developed to describe free and forced vibrations. The dynamic analysis of the mechanical system is conducted using a discrete dynamic model with a reduced number of vibrational degrees of freedom. On the basis of the expression for the system energy, and by applying Lagrange's equations of the second kind, differential equations are derived for system vibrations, frequencies are determined, and the laws of forced platform vibration are established. At the same time, a nonlinear FEM model is developed and the laws of free and forced vibration are determined. The experimental and numerical part of the study deal with the examination of the real structure in extreme conditions, taking into account: the lowest eigenfrequency, forced actions that could endanger the general stability, the maximal amplitudes, and the acceleration of the work platform. The obtained analytical and numerical results are compared with the experiments. The experimental verification points to the adverse behaviour of the platform in excitation cases - swaying. In such a situation, even a relatively small physical force can lead to unacceptably high amplitudes of displacement and acceleration - exceeding the usual work values.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.1
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• pp.27-34
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• 2019

This paper presents a chamber pressure model development of K2 rifle by applying Gaussian mixture model. In order to materialize a real recoil force of a virtual reality shooting rifle in military combat training, the chamber pressure which is one of major components of the recoil force needs to be investigated and modeled. Over 200,000 data of the chamber pressure were collected by implementing live fire experiments with both K100 and M193 of 5.56 mm bullets. Gaussian mixture method was also applied to create a mathematical model that satisfies nonlinear, asymmetry, and deviations of the chamber pressure which is caused by irregular characteristics of propellant combustion. In addition, Polynomial and Fourier Regression were used for comparison of results, and the sum of squared errors, the coefficient of determination and root-mean-square errors were analyzed for performance measurement.

• Smart Structures and Systems
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• v.24 no.2
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• pp.223-231
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• 2019

The properties of Electroactive Polymer (EAP) materials are attracting the attention of engineers and scientists from many different disciplines. From the point-of-view of robotics, Ionic Polymer Metal Composites (IPMC) belong to the most developed group of the EAP class. To allow effective design of IPMC-actuated mechanisms with large induced strains, it is necessary to have adequate analytical tools for predicting the behavior of IPMC actuators as well as simulating their response as part of prototyping methodologies. This paper presents a novel IPMC motor construction. To simulate the bending behavior that is the dominant phenomenon of motor movement process, a nonlinear model is used. To accomplish the motor design, the IPMC model was identified via a series of experiments. In the proposed model, the curvature output and current transient fields accurately track the measured responses, which is verified by measurements. In this research, a three-dimensional Finite Element Method (FEM) model of the IPMC motor, composed of IPMC actuators, simultaneously determines the mechanical and electrical characteristics of the device and achieves reliable analysis results. The principle of the proposed drive and the output signals are illustrated in this paper. The proposed modelling approach can be used to design a variety of controllers and motors for effective micro-robotic applications, where soft and complex motion are required.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.314-328
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• 2019

This paper attempts to combine the pneumatic breakwater and submerged breakwater to increase the effectiveness of wave damping for long-period waves. A series of physical experiments concerning pneumatic breakwater, submerged breakwater and their joint breakwater was conducted and used to validate a mathematical model based on Reynolds-averaged Navier-Stokes equations, the RNG $k-{\varepsilon}$ turbulence model and the VOF method. In addition, the mathematical model was used to investigate the wave transmission coefficients of three breakwaters. The nonlinear wave propagation behaviors and the energy transfer from lower frequencies to higher frequencies after the submerged breakwater were investigated in detail. Furthermore, an optimal arrangement between pneumatic breakwater and submerged breakwater was obtained for damping longer-period waves that cannot be damped effectively by the pneumatic breakwater alone. In addition, the reason for the appearance of the combination effect is that part of the energy of the transmitted waves over the submerged breakwater transfers to shorter-period waves. Finally, the impact of the joint breakwater on the wave field during wave propagation process was investigated.

• Tribology and Lubricants
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• v.37 no.5
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• pp.164-171
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• 2021

Ultrasonic sensors show various reception characteristics based on the density of the measurement medium; hence, they are used in various fields to benefit from the characteristics of ultrasonic signals. In this study, the reception characteristics according to the thickness of the first matching layer are compared and analyzed for application to gas tank microleak detection. Accordingly, three types of sensors are manufactured with varying thicknesses of the first matching layer, namely 4.8 mm, 5.1 mm, and 5.5 mm; further, a direct measurement method is used wherein the sensor is attached to the inside of the chamber. Experiments are conducted to observe the phase change due to microleakage, which is the most linear in the sensor with the 4.8 mm thick first matching layer. This is assumed to be the result of stable signal transmission and reception with little phase deviations over time because the first matching layer is closest to the ultrasonic wavelength. The other sensors show nonlinear results with increasing thickness of the first matching layer. Through this study, it is found that appropriately selecting the thickness of the first matching layer of the ultrasonic sensor can greatly influence sensor reliability.

• Wind and Structures
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• v.31 no.6
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• pp.561-573
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• 2020

Unsteady self-excited forces are commonly represented by parametric models such as rational functions. However, this requires complex multiparametric nonlinear fitting, which can be a challenging task that requires know-how. This paper explores the alternative nonparametric modeling of unsteady self-excited forces based on relations between flutter derivatives. By exploiting the properties of the transfer function of linear causal systems, we show that damping and stiffness aerodynamic derivatives are related by the Hilbert transform. This property is utilized to develop exact simplified expressions, where it is only necessary to consider the frequency dependency of either the aeroelastic damping or stiffness terms but not both simultaneously. This approach is useful if the experimental data on aerodynamic derivatives that are related to the damping are deemed more accurate than the data that are related to the stiffness or vice versa. The proposed numerical models are evaluated with numerical examples and with data from wind tunnel experiments. The presented method can evaluate any continuous fitted table of interpolation functions of various types, which are independently fitted to aeroelastic damping and stiffness terms. The results demonstrate that the proposed methodology performs well. The relations between the flutter derivatives can be used to enhance the understanding of experimental modeling of aerodynamic self-excited forces for bridge decks.

• Ocean Systems Engineering
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• v.11 no.1
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• pp.1-16
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• 2021

Experimental and numerical investigations were conducted to study the performance of a surface-fixed horizontal porous wave barrier in regular waves. The characteristics of the reflection and transmission coefficients, energy dissipation, and vertical wave force were examined versus different porosities of the barrier. Numerical simulations based on 3D Reynolds Averaged Navier-Stokes equations with standard low-Re k-ε turbulent closure and volume of fluid approach were accomplished and compared with the experimental results conducted in a 2D wave tank. Experimental measurements and numerical simulations were shown to be in satisfactory agreement. The qualitative wave behavior propagating over a horizontal porous barrier such as wave run-up, wave breaking, air entrapment, jet flow, and vortex generation was reproduced by CFD computation. Through the discrete harmonic decomposition of the vertical wave force on a wave barrier, the nonlinear characteristics were revealed quantitatively. It was concluded that the surface-fixed horizontal barrier is more effective in dissipating wave energy in the short wave period region and more energy conversion was observed from the first harmonic to higher harmonics with the increase of porosity. The present numerical approach will provide a predictive tool for an accurate and efficient design of the surface-fixed horizontal porous wave barrier.

• Advances in concrete construction
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• v.11 no.3
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• pp.239-253
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• 2021

The behavior of concrete containing waste glass as a replacement of cement or aggregate was studied previously in the most of researches, but the present investigation focuses on the recycling of waste glass powder as a substitute for silica fume in high strength concrete (HSC). This endeavor deals with the efficiency of using waste glass powder, as an alternative for silica fume, in the flexural capacity of HSC beam. Thirteen members with dimensions of 0.3 m width, 0.15 m depth and 0.9 m span length were utilized in this work. A comparison study was performed considering HSC members and hybrid beams fabricated by HSC and conventional normal concrete (CC). In addition to the experiments on the influence of glass powder on flexural behavior, numerical analysis was implemented using nonlinear finite element approach to simulate the structural performance of the beams. Same constitutive relationships were selected to model the behavior of HSC with waste glass powder or silica fume to show the matching between the modeling outputs for beams made with these powders. The results showed that the loading capacity and ductility index of the HSC beams with waste glass powder demonstrated enhancing ultimate load and ductility compared with those of HSC specimens with silica fume. The study deduced that the recycled waste glass powder is a good alternative to the pozzolanic powder of silica fume.

• Structural Engineering and Mechanics
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• v.77 no.4
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• pp.559-569
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• 2021

This study was conducted to investigate the residual bearing capacity of steel-concrete composite beams under high-cycle fatigue loading through experiments and theoretical analysis. Six test beams with stud connectors were designed and fabricated for static, complete fatigue, and partial fatigue tests. The failure modes and the degradation of several mechanical performance indicators of the composite beams under high-cycle fatigue loading were analyzed. A calculation method for the residual bearing capacity of the composite beams after certain quantities of cyclic loading cycles was established by introducing nonlinear fatigue damage models for concrete, steel beam, and shear connectors beginning with the material residual strength attenuation process. The results show that the failure mode of the composite beams under the given fatigue load appears to be primarily affected by the number of cycles. As the number of fatigue loadings increases, the failure mode transforms from mid-span concrete crushing to stud cutting. The bearing capacity of a 3.0-m span composite beam after two million fatigue cycles is degraded by 30.7% due to premature failure of the stud. The calculated values of the residual bearing capacity method of the composite beam established in this paper agree well with the test values, which indicates that the model is feasibly applicable.