• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• Structural Engineering and Mechanics
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• 제4권2호
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• pp.163-176
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• 1996

The tension and compression buckling behaviour of a square plate with localized zones of damage and subjected to non-uniform loading is studied using a finite element analysis. The influence of parameters such as position of damage, extent of damage, size of damage and position of load on instability behaviour are discussed. The dynamic behaviour for certain load and damage parameters are also presented. It is observed that the presence of damage has a marked effect on the static buckling load and natural frequency of the plate.

• 대한토목학회논문집
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• 제10권1호
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• pp.1-7
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• 1990

이 논문은 자유단에 집중하중과 만재 등분포하중이 작용하는 캔틸레버 보의 과대처짐을 해석한 연구이다. 과대처짐을 해석하기 위하여 처짐곡선의 Bernoulli-Euler 미분방정식을 이용하였고, 이 미분방정식을 Runge Kutta method와 Regula Falsi method를 이용하여 수치해석할 수 있는 기법을 개발하였다. 수치해석의 결과로 하중과 자유단의 수평처짐, 수직처짐 및 회전각과의 관계를 무차원화하여 도시하였고 또한 몇 개의 전형적인 과대처짐곡선을 무차원화하여 도시하였다.

• Structural Engineering and Mechanics
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• 제54권4호
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• pp.725-740
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• 2015

This study presents critical buckling load optimization of the axially graded layered uniform columns. In the first place, characteristic equations for the critical buckling loads for all boundary conditions are obtained using the transfer matrix method. Then, for each case, square of this equation is taken as a fitness function together with constraints. Due to explicitly unavailable objective function for the critical buckling loads as a function of segment length and volume fraction of the materials, especially for the column structures with higher segment numbers, initially, prescribed value is assumed for it and then the design variables satisfying constraints are searched using Differential Evolution (DE) optimization method coupled with eigen-value routine. For constraint handling, Exterior Penalty Function formulation is adapted to the optimization cycle. Different boundary conditions are considered. The results reveal that maximum increments in the critical buckling loads are attained about 20% for cantilevered and pinned-pinned end conditions and 18% for clamped-clamped case. Finally, the strongest column structure configurations will be determined. The scientific and statistical results confirmed efficiency, reliability and robustness of the Differential Evolution optimization method and it can be used in the similar problems which especially include transcendental functions.

• Earthquakes and Structures
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• 제9권2호
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• pp.415-430
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• 2015

Integral abutment bridges have many advantages over bridges with expansion joints in terms of economy and maintenance costs. However, in the design of abutments of integral bridges temperature loads play a crucial role. In addition, seismic loads are readily transferred to the substructure and affect the design of these components significantly. Currently, the European and American bridge design codes consider these two load cases separately in their recommended design load combinations. In this paper, the importance and necessity of combining the thermal and seismic loads is investigated for integral bridges. A 2D finite element combined pile-soil-structure interactive model is used in this evaluation. Nonlinear behavior is assumed for near field soil behind the abutments. The soil around the piles is modeled by nonlinear springs based on p-y curves. The uniform temperature changes occurring at the time of some significant earthquakes around the world are gathered and applied simultaneously with the corresponding earthquake time history ground motions. By comparing the results of these analyses to prescribed AASHTO LRFD load combinations it is observed that pile forces and abutment stresses are affected by this new load combination. This effect is more severe for contraction mode which is caused by negative uniform temperature changes.

• 대한기계학회논문집A
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• 제28권10호
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• pp.1558-1565
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• 2004

It is important to determine supporting locations for structural stability when a structure is loaded with non-uniform load or supporting locations as well as the number of the supporting structures are restricted by the problem of space. Moreover, the supporting location optimization of complex structure in real world is frequently faced with discontinuous design space. Therefore, the traditional optimization methods based on derivative are not suitable Whereas, Genetic Algorithm (CA) based on stochastic search technique is a very robust and general method. The KSTAR in-vessel control coil installed in vacuum vessel is loaded with non- uniform electro-magnetic load and supporting locations are restricted by the problem of space. This paper shows the supporting location optimization for structural stability of the in-vessel control coil. Optimization has been performed by means of a developed program. It consists of a Finite Element Analysis interfaced with a Genetic Algorithm. In addition, this paper presents an algorithm to find an optimum solution in discontinuous space using continuous design variables.

• Earthquakes and Structures
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• 제5권5호
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• pp.589-605
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• 2013

The effect of dead loads on dynamic responses of a uniform elastic beam subjected to moving loads is examined by means of a governing equation which takes into account initial bending stresses due to dead loads. First, the governing equation of beams which includes the effect of dead loads is briefly presented from the author's paper (1990, 1991, 2010). The effect of dead loads is considered by a strain energy produced by conservative initial stresses caused by the dead loads. Second, the effect of dead loads on dynamical responses produced by moving loads in simply supported beams is confirmed by the results of numerical computations using the Galerkin method and Wilson-${\theta}$ method. It is shown that the dynamical responses by moving loads are decreased remarkably on a heavyweight beam when the effect of dead loads is included. Third, an approximate solution of dynamic deflections including the effect of dead loads for a uniform beam subjected to moving loads is presented in a closed-form for the case without the additional mass due to moving loads. The proposed solution shows a good agreement with results of numerical computations with the Galerkin method and Wilson-${\theta}$ method. Finally it is clarified that the effect of dead loads on elastic uniform beams subjected to moving loads acts on the restraint of the transverse vibration for the both cases without and with the additional mass due to moving loads.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1322-1327
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• 2003

It is important to determine supporting locations for structural stability of a structure under non-uniform load in space interfered by other parts. In this case, There are many local optima with discontinuous design space. Therefore, The traditional optimization methods based on derivative are not suitable. Whereas, Genetic algorithm(GA) based on stochastic search technique is a very robust and general method. This paper has been presented to determine supporting locations of the vertical supports for reducing stress of the KSTAR(Korea super Superconducting Tokamak Advanced Research) IVCC(In-vessel control coil) under non-uniform electromagnetic load and space interfered by other parts using genetic algorithm. For this study, we develop a program combining finite element analysis with a genetic algorithm to perform structural analysis of IVCC. In addition, this paper presents a technique to perform optimization with FEM when design variables are trapped in an incongruent design space.

• Smart Structures and Systems
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• 제24권2호
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• pp.233-242
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• 2019

In this paper, an inverse approach based on uniform load surface (ULS) is presented for structural damage localization and quantification. The ULS is excellent approximation for deformed configuration of a structure under distributed unit force applied on all degrees of freedom. The ULS make use of natural frequencies and mode shapes of structure and in mathematical point of view is a weighted average of mode shapes. An objective function presented to damage detection is discrepancy between the ULS of monitored structure and numerical model of structure. Solving this objective function to find minimum value yields damage's parameters detection. The teaching-learning based optimization algorithm has been employed to solve inverse problem. The efficiency of present damage detection method is demonstrated through three numerical examples. By comparison between proposed objective function and another objective function which make use of natural frequencies and mode shapes, it is revealed present objective function have faster convergence and is more sensitive to damage. The method has good robustness against measurement noise and could detect damage by using the first few mode shapes. The results indicate that the proposed method is reliable technique to damage detection in structures.

• 한국공간구조학회논문집
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• 제24권1호
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• pp.73-80
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• 2024

Non-uniform reinforced concrete brace facade systems are newly considered to improve seismic performance of reinforced concrete frame buildings under lateral load. For normal and high strength concrete of 30MPa, 80MPa, and 120MPa, the cross-sections of reinforced concrete brace facade systems were designed as different size with same amount of reinforcements. The strengthened frame systems were analyzed by a non-linear two-dimensional finite element technique which was considering material non-linearities of concrete and reinforcing bars under monotonic and cyclic loadings. From the study of non-linear analysis of the systems, therefore, it was provided that the proposed braced facade systems were reliable to improve laterally load-carrying capacity and minimize damages of concrete members through comparisons of load-displacement curves, crack patterns, and stress distributions of reinforcing bars predicted by current non-linear finite element analysis of frame specimens.