• Structural Engineering and Mechanics
• /
• v.4 no.5
• /
• pp.469-484
• /
• 1996

Green's functions are obtained in exact closed-forms for the elastic fields in bi-material elastic solids with slipping interface and differing transversely isotropic properties induced by concentrated point and ring force vectors. For the concentrated point force vector, the Green functions are expressed in terms of elementary harmonic functions. For the concentrated ring force vector, the Green functions are expressed in terms of the complete elliptic integral. Numerical results are presented to illustrate the effect of anisotropic bi-material properties on the transmission of normal contact stress and the discontinuity of lateral displacements at the slipping interface. The closed-form Green's functions are systematically presented in matrix forms which can be easily implemented in numerical schemes such as boundary element methods to solve elastic problems in computational mechanics.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.17 no.4
• /
• pp.13-20
• /
• 1980

The integral equation method to solve the boundary-value problem of a 2-dimensional body oscillating in the presence of a free surface generally breaks down at and near irregular frequencies due to the hypothetical flow inside the body. In this paper singularity distributions were extended to an inner free surface to remove the irregular frequency as Ohmatsu's work in 1978, and the solution for the above problem was found by using stream function. For various bodies including Lewis form cylinders, the hydrodynamic forces were calculated numerically at various wave numbers. From the results we concluded that the irregular frequencies can be removed even for the Lewis form cylinder as Ohmatsu done for circular cylinders, and calculated hydrodynamic forces by the present method are little higher than those of Ohmatsu's when the singularities are put on the inner free surface of the body. We specially point out that the solution for heaving motion converges in an oscillatory manner but not for swaying and rolling motions.

• Proceedings of the KSR Conference
• /
• 2007.11a
• /
• pp.927-939
• /
• 2007

This paper concerns dynamics of a wheel-axle set on a tangent track which was already published in a book titled "Dynamics of Railway Vehicle Systems" authored by Garg and Dukkipati [1], pointing out several missing terms and erroneous parts in the derived expressions on the conventional governing equations of motion. It is indicated that the x-direction components of normal forces at left and right wheel-rail contact points in the equilibrium axis were missed. Another point is that in deriving the creepages the disturbed velocity components in both x and y directions in the equilibrium axis should not be disregarded in the first term of the numerators. When considering the creepage in the y direction in the body coordinate system, the second term of lateral velocity at the contact point also cannot be neglected. Besides, the hyper-assumptions in the final expressions of vertical components of normal forces at left and right wheel-rail contact points have been recovered in reaching the final stage of analytical model development. Finally it is noteworthy that the process of applying creep theory is deemed to contain a little bit inconsistencies and ambiguities to be clear.

• Journal of the Korean Society of Safety
• /
• v.19 no.2
• /
• pp.88-92
• /
• 2004

The paper decribes a procedure for the evaluation of the effect of seepage force on stability of slopes. The stability of an embankment impounding a water reservoir is highly depend upon the location of seepage line with the embankment. To evaluate the accurate safety factor of an embankment, it is important to illustrate the seepage phenomenon. Of particular interest is the stability following a rapid change of reservoir level. Seepage forces in embankments are easily determined interest is the stability following a rapid change of resrvoir level. Seepage forces in embankments are easily detemined if frictional forces are expressed in relation to hydraulic gradient I. If a piezometer is inserted into a body of embankment, the level to which fee water rises is a measure of the energy at that point.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.539-541
• /
• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.

• Journal of applied mathematics & informatics
• /
• v.14 no.1_2
• /
• pp.251-266
• /
• 2004

We consider a controlled nonlinear mechanical system described by the Lagrange equations. We determine the control forces $Q_1$ and the restrictions for the perturbations $Q_2$ acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. We solve the problem of stabilization by the direct Lyapunov's method and the method of limiting functions and systems. In this case we can use the Lyapunov's functions having nonpositive derivatives. The following examples are considered: stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of rigid body with fixed point.

• Interaction and multiscale mechanics
• /
• v.2 no.2
• /
• pp.177-187
• /
• 2009

Machine or structural members subjected to fatigue loading will have a crack initiated during early part of their life. Therefore analysis of members with cracks and other discontinuities is very important. Finite element method has enjoyed widespread use in engineering, but it is not convenient for crack problems as the region very close to crack tip is to be discretized with very fine mesh. However, as the body force method (BFM), requires only the boundary of the discontinuity (crack or hole) to be discretized it is easy versatile technique to analyze such problems. In the present work fundamental solution for concentrated load x + iy acting in the semi-infinite plate at an arbitrary point $z_0=x_0+iy_0$ is considered. These fundamental solutions are in complex form ${\phi}(z)$ and ${\psi}(z)$ (England 1971). These potentials are known as Melan potentials (Ramakrishna 1994). A crack in the semi-infinite plate as shown in Fig. 1 is considered. This crack is divided into number of divisions. By applying pair of body forces on a division, the resultant forces on the remaining 'N'divisions are to be found for which ${\phi}_1(z)$ and ${\psi}_1(z)$ are derived. Body force method is applied to calculate stress intensity factor for crack in semi-infinite plate. Also for the case of crack emanating from circular hole in semi-infinite plate radial stress, hoop stress and shear stress are calculated around the hole and crack. Convergent results are obtained by body force method. These results are compared with FEM results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.10
• /
• pp.1029-1038
• /
• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.23 no.60
• /
• pp.37-46
• /
• 2000

A biomechanical model of lower extremity in seated postures was developed to assess muscular activities of lower extremity involved in a variety of foot pedal operations. The model incorporated four rigid body segments with the twenty-four muscles to represent lower extremity This study deals with quasi-static movement to investigate dynamic movement effect in seated foot operation. It is found that optimization method which has been used for modeling the articulated body segments does not predict the forces generated from biarticular muscles and antagonistic muscles reasonably. So, the revised nonlinear optimization scheme was employed to consider the synergistic effects of biarticular muscles and the antagonistic muscle effects from the stabilization of the joint. For the model validation, three male subjects performed the experiments in which EMG activities of the nine lower extremity muscles were measured. Predicted muscle forces were compared with the corresponding EMG amplitudes and it showed no statistical difference. For the selection of optimal seated posture, a physiological meaningful criterion was developed for muscular load sharing developed. For exertion levels, the transition point of type F motor unit of each muscle is inferred by analyzing the electromyogram at the seated postures. Also, for predetermined seated foot operations exertion levels, the recruitment pattern is identified in the continuous exertion, by analyzing the electromyogram changes due to the accumulated muscle fatigue.

• Journal of the Korean Society of Safety
• /
• v.12 no.4
• /
• pp.134-142
• /
• 1997

The stability of an embankment Impounding a water reservoir is highly depend upon the location of seepage line with the embankment. To evaluate the accurate safety factor of an embankment, it is important to illustrate the seepage phenomenon. Of particular interest is the stability following a rapid change (drawdown) of reservoir level Seepage forces in embankments are easily determined if frictional forces are expressed in relation to hydraulic gradient Ⅰ. If a piezometer is inserted into a body of embankment, the level to which free water rises is a measure of the energy at that point. From model test result, it is possible to calculate safety factors of earth embankment. To assure the validity of this research, tests were conducted with numerical experimental models. And the experiment models were constructed with slopes of 1:1.0, 1:1.5, 1:2.0, 1:2.5. Analysis of experimental results, seepage force was analyzed according to downstream time, internal friction angle and cohesion, respectively.