• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.19 no.7
• /
• pp.98-105
• /
• 2020

This study deals with the passive control of the dynamic characteristics of a theoretical model which is a string with fixed ends and loaded by two point masses - a main mass (M_o) and a secondary mass (M_s). It has been controlled passively by means of a relocation of a secondary mass. A main mass placed on the string is considered as a vibrating receiver which be forced to vibrate by a vibrating source being positioned on the string. By analyzing the motion of a string, the equation of motion for a string was derived by using a method of variation of parameters. To define the optimal conditions for the vibration reduction, the governing equation, which denotes the dynamic response of a string was derived in the closed form and then evaluated numerically. The possibility of reduction of an amplitude and a power being transmitted to a main mass were found to depend on the location and the magnitude of a secondary mass as well as the range of a forcing frequency.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.3
• /
• pp.198-208
• /
• 2001

In this paper, vibration suppression of an elastic beam fixed on a moving cart and carrying a fixed or moving mass is considered. A modified pulse sequence method with RIC(Robust Internal-loop Compensator) is proposed to suppress the single model residual vibration and to get accurate positioning of the beam-mass-cart system. The performance of the proposed input preshaping method is compared with that of the previous ones through simulations and experiments. Using the proposed method, it is able to suppress the initial vibration of the beam-mass-cart system carrying a concentrated mass. Accurate PTP(point-to-point) positioning of the moving mass without residual vibration is also obtained experimentally by modifying the proposed pulse sequence method. Finally, the proposed input preshaping method is applied successfully to the system to follow square trajectories of the moving mass without residual vibration.

• Journal of Ocean Engineering and Technology
• /
• v.33 no.5
• /
• pp.400-410
• /
• 2019

In this study, the numerical code for the 3D nonlinear dynamic analysis of an SLWR (Steel Lazy Wave Riser) was developed using the lumped mass line model in a FORTRAN environment. Because the lumped mass line model is an explicit method, there is no matrix operation. Thus, the numerical algorithm is simple and fast. In the lumped mass line model, the equations of motion for the riser were derived by applying the various forces acting on each node of the line. The applied forces at the node of the riser consisted of the tension, shear force due to the bending moment, gravitational force, buoyancy force, riser/ground contact force, and hydrodynamic force based on the Morison equation. Time integration was carried out using a Runge-Kutta fourth-order method, which is known to be stable and accurate. To validate the accuracy of the developed numerical code, simulations using the commercial software OrcaFlex were carried out simultaneously and compared with the results of the developed numerical code. To understand the nonlinear dynamic characteristics of an SLWR, dynamic simulations of SLWRs excited at the hang-off point and of SLWRs in regular waves were carried out. From the results of these dynamic simulations, the displacements at the maximum bending moments at important points of the design, like the hang-off point, sagging point, hogging points, and touch-down point, were observed and analyzed.

• Journal of Advanced Navigation Technology
• /
• v.21 no.1
• /
• pp.132-137
• /
• 2017

This paper proposes a transformation method of the zero moment point (ZMP) and the center of mass (CoM) from one walking pattern to other patterns by considering the structure of a robot or walking situations in real time. In general, a humanoid robot has own structure characteristics like height and mass. The structure characteristics make the given CoM/ZMP walking pattern of one human or one humanoid robot to be difficult to apply to other robot directly. For this purpose, we analyze the characteristics of walking patterns according to the step length, duration of walking support phase and the CoM height by using the cart-table model as the simple humanoid robot model. A transformation equation is derived from the analyzation and it is verified with simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1036-1041
• /
• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1993.04a
• /
• pp.213-217
• /
• 1993

This paper presents an end-point of 1-link flexible robot arm with a tip-mass by using self-turning fuzzy algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by CD servomotor. Tip position is controlled so that it follows a desired position. A feedback signal is composed of both the tip-displacement error and change in error. This paper gives the experimental tip responses according to the variations of tip-mass and beam-length, and also showes the effects of reducing the residual vibrations occuring at the end-point.

• Journal of Ocean Engineering and Technology
• /
• v.27 no.6
• /
• pp.22-26
• /
• 2013

The purpose of this study was to improve the design of a mooring line by attaching a lumped mass to it on the seabed. A numerical analysis of the redesigned mooring system is performed to analyze the effect of the weight of the attached lumped mass using the commercial software Orcaflex. The ultimate tension of the mooring system with the lumped mass is compared with that of a bare mooring line in the original design. An appropriately designed weight for the lumped mass is found to induce a critical lifted point in the mooring line by floater motion in the ultimate condition to move toward the floater position from the anchor point, while maintaining a similar safety factor for the mooring line. On the other hand, it is shown that excess weight for the lumped mass induces snapping in a mooring line, resulting in low safety factor for the mooring system. The distance between lumped weights is shown to be a minor parameter affecting the safety of a mooring line, although a shorter line has an advantage from an economic point of view. Using the optimal weight for the lumped mass attached to the mooring line on a seabed reduces the mooring line length and installation area occupied by a mooring system under real sea conditions.

• Journal of the Korean Mathematical Society
• /
• v.33 no.1
• /
• pp.39-46
• /
• 1996

Let $\alpha > 0$ and $\zeta$ be a point on the unit circle $T= {$\mid$z$\mid$ = 1}$ of the complex plane C.

• Journal of Korean Society for Atmospheric Environment
• /
• v.25 no.3
• /
• pp.219-236
• /
• 2009

Particle-phase organic tracers (molecular markers) have been shown to be an effective method to assess and quantify the impact of sources of carbonaceous aerosols. These molecular markers have been used in chemical mass balance (CMB) models to apportion primary sources of organic aerosols in regions where the major organic aerosol source categories have been identified. As in the case of all CMB models, all important sources of the tracer compounds must be included in a Molecular Marker CMB (MM-CMB) model or the MMCMB model can be subject to biases. To this end, the application of the MM-CMB models to locations where reasonably accurate emissions inventory of organic aerosols are not available, should be performed with extreme caution. Of great concern is the potential presence of industrial point sources that emit carbonaceous aerosols and have not been well characterized or inventoried. The current study demonstrates that emissions from industrial point sources in the St. Louis, Missouri area can greatly bias molecular marker CMB models if their emissions are not correctly addressed. At a sampling site in the greater St. Louis Area, carbonaceous aerosols from industrial point sources were found to be important source of carbonaceous aerosols during specific time periods in addition to common urban sources (i.e. mobile sources, wood burning, and road dust). Since source profiles for these industrial sources have not been properly characterized, method to identify time periods when point sources are impacting a sampling site, needs to avoid obtaining biases source apportionment results. The use of real time air pollution measurements, along with molecular marker measurements, as a screening tool to identify when point sources are impacting a receptor site is presented.

• Structural Engineering and Mechanics
• /
• v.34 no.4
• /
• pp.399-416
• /
• 2010

The purpose of this paper is to utilize the numerical assembly method (NAM) to determine the exact natural frequencies and mode shapes of a multi-step beam carrying multiple rigid bars, with each of the rigid bars possessing its own mass and rotary inertia, fixed to the beam at one point and supported by a translational spring and/or a rotational spring at another point. Where the fixed point of each rigid bar with the beam does not coincide with the center of gravity the rigid bar or the supporting point of the springs. The effects of the distance between the "fixed point" of each rigid bar and its center of gravity (i.e., eccentricity), and the distance between the "fixed point" and each linear spring (i.e., offset) are studied. For a beam carrying multiple various concentrated elements, the magnitude of each lumped mass and stiffness of each linear spring are the well-known key parameters affecting the free vibration characteristics of the (loaded) beam in the existing literature, however, the numerical results of this paper reveal that the eccentricity of each rigid bar and the offset of each linear spring are also the predominant parameters.