• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• 한국소음진동공학회논문집
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• 제15권2호
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• pp.192-198
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• 2005

Empirical mode decomposition(EMD) method has been recently proposed to analyze non-linear and non-stationary data. This method allows the decomposition of one-dimensional signals into intrinsic mode functions(IMFs) and is used to calculate a meaningful multi-component instantaneous frequency. In this paper, it is assumed that each mode of damped vibration signal could be well separated in the form of IMF by EMD. In this case, we can have a new powerful method to calculate natural frequencies and dampings from damped vibration signal which usually has multiple modes. This proposed method has been verified by both simulation and experiment. The results by EMD method whichhas used only output vibration data are almost identical to the results by FRF method which has used both input and output data, thereby proving usefulness and accuracy of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.233-236
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• 1996

This paper describes a liner state-space model for a flexible stick balencer. The method employed to generate the model utilizes a separable formulation of assumed modes to represents the transverse displacement due to bending Lagrangian dynamics are applied to determine the kinetic and potential energies for the system. The resultant dynamic equations are then organized into a state space model and linearized using Taylor series expansion method. A minimum order observer is designed to estimate unmeasurable states.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계 학술대회논문집(수송기계편)
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• pp.65-68
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• 2005

In this paper, a theoretical study is carried out on the hydroelastic vibration of a rectangular tank wall. It is assumed that the tank wall is clamped along the plate edges. The fluid velocity potential is used for the simulation of fluid domain and to obtain the added mass due to wall vibration. In addition, the vibration characteristics of stiffened wall of the rectangular tank are investigated. Assumed mode method is utilized to the stiffened plate model and hydrodynamic force is obtained by the proposed approach. The coupled natural frequencies are obtained from the relationship between kinetic energies of a wall including fluid and the potential energy of the wall. The theoretical result is compared with the three-dimensional finite element method and then added mass effect is discussed due to tank length and potential mode.

• 한국소음진동공학회논문집
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• 제22권7호
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• pp.659-666
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• 2012

A nonlinear dynamic model for the shaft-disk-blade unit is developed in this study. In this regard, the rotating flexible blade, with a pre-twist angle, attached to a rigid disk driven by a shaft which is flexible in torsion is developed. The rotor-blade coupled model is derived using Lagrange equation in conjunction with the assumed mode method to discretize the blade deformation. The equations of motion are analyzed based on the small deformation theory for the blade and shaft torsional deformation to obtain the system natural frequencies for various system parameters.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권4호
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• pp.763-774
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• 2014

A simple and efficient vibration analysis procedure for stiffened panels with openings and arbitrary boundary conditions based on the assumed mode method is presented. Natural frequencies and modes are determined by solving an eigenvalue problem of a multi-degree-of-freedom system matrix equation derived by using Lagrange's equations of motion, where Mindlin theory is applied for plate and Timoshenko beam theory for stiffeners. The effect of stiffeners on vibration response is taken into account by adding their strain and kinetic energies to the corresponding plate energies whereas the strain and kinetic energies of openings are subtracted from the plate energies. Different stiffened panels with various opening shapes and dispositions for several combinations of boundary conditions are analyzed and the results show good agreement with those obtained by the finite element analysis. Hence, the proposed procedure is especially appropriate for use in the preliminary design stage of stiffened panels with openings.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.699-704
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• 2004

Empirical mode decomposition(EMD) method has been recently proposed to analyze non-linear and non-stationary data. This method allows the decomposition of one-dimensional signals into intrinsic mode functions(IMFs) and is used to calculate a meaningful multi-component instantaneous frequency. In this paper, it is assumed that each mode of damped vibration signal could be well separated in the form of IMF by EMD. In this case, we can have a new powerful method to calculate natural frequencies and dampings from damped vibration signal which usually has multiple modes. This proposed method has been verified by both simulation and experiment. The result by EMD method which has used only output vibration data is almost identical to the result by FRF method which has used both input and output data, thereby proving usefulness and accuracy of the proposed method.

• Journal of information and communication convergence engineering
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• 제5권4호
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• pp.305-310
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• 2007

In this paper, an analysis has been done on the performance of SCTP header compression by using Robust Reader Compression (ROHC)[1] method. And it is assumed that the operating mode for ROHC is unidirectional mode (U-Mode) and the possible states are IR and SO states. The throughput of SCTP packets in wireless link and the impact of size of W-LSB encoding window on throughput are discussed.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2007년도 제29회 추계학술대회논문집
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• pp.7-12
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• 2007

본 연구에서는 선행연구에 의해 설계되어진 20인승급 소형 위그선의 주날개 구조를 엔진 및 프로펠러에 의해 유발되는 진동을 가진력으로 하여 강제진동 해석을 수행하였다. 대상 위그선은 왕복엔 진을 날개에 장착하여 프로펠러에 의한 추력으로 비행하며， 미는 형식(Pusher Type)의 엔진 배열을 취하고 있다. 유한요소해석을 위해서 구조해석 상용프로그랩인 MSC/NASTRAN을 사용하였으며， 엔진의 주요 진동 특성인 X-mode 와 Y-mode 그리고 Z-mode를 특정 가진 주파수로 하여 주파수 응답 해석을 수행하였고, 엔진의 추력방향 진동 모드인 X-mode를 프로펠러의 회전에 의해 진동을 수반하는 가진 추력으로 가정하여 과도응답 해석을 수행한 후 날개의 진동 특성을 살펴보았다.

• 한국전산구조공학회논문집
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• 제20권3호
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• pp.353-364
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• 2007

이 논문에서는 원전 격납건물의 극한내압능력 및 파괴모드 평가를 위해 개발된 비선형 유한요소해석 프로그램 NUCAS 코드에 대하여 기술하였다. NUCAS는 미시적인 재료모델을 도입한 퇴화 쉘 요소와 탄소성 재료모델을 도입한 저차고체요소로 구성되어 있고, 퇴화 쉘 요소와 저차고체요소는 유한요소에서 발생할 수 있는 강성과대(overstiffness) 및 묶임현상(locking phenomenon)을 방지하기 위해서 각각 가변형도법(assumed strain method)과 개선된 가변형도법(enhanced assumed strain method)을 적용하였다. 개발된 NUCAS코드의 성능을 검증하기 위해서 다양한 철근콘크리트 구조물의 벤치마크 테스트를 수행하였고, 그 결과로부터 이 논문에서 개발한 유한요소해석 프로그램의 해석결과는 실험결과와 잘 일치하였다.