• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1785-1789
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• 1991

Recently, a number of papers on adaptive control scheme of manipulators are proposed. Slotine and Li[1] showed an adaptive control scheme for robot manipulator. The controller was described in closed form. And later Niemeyer and Slotine discussed about a computational implementation of the controller in recursive form[2]. Walker proposed another adaptive control scheme which can be implemented by a recursive-form controller[4]. Closed-form description is used for the analysis or design of adaptive control systems while recursive-form realization is used for implementation of the controller. The relation between the closed-form realization and the recursive-form one seems to be inadequately referred. Hence, it makes sense to consider the relation between the closed-form description and the recursive-form one. In this paper, first, we make a simple derivation of an closed-form dynamics description of a robot arm from its recursive-form description. And then we derive the closed-form realization of Walker's scheme applied to manipulators having no kinematic loop. We clarify the difference between the Walker's scheme and Slotine's and evaluate the convergence under the controllers.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.41 no.6 s.324
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• pp.79-86
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• 2004

In the integration of Sommerfeld type for space domain Green's function, a accurate closed-from Green's function method provides more exact solution than the typical complex image method and two-level method. The accurate closed-form Green's function method is applied to obtain the space domain Green's functions of planar structures with general sources. Please put the abstract of paper here.

• Structural Engineering and Mechanics
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• v.66 no.3
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• pp.387-397
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• 2018

In this paper, a general closed-form solution for evaluating the dynamic behavior of a Timoshenko beam on elastic foundation under a moving harmonic line load is formulated in the frequency-wavenumber domain and in a moving coordinate system. It is found that the characteristic equation is quartic with real coefficients only, and its poles can be presented explicitly. This enables the substitution of these poles into Cauchy's residue theorem, leading to the general closed-form solution. The solution can be reduced to seven existing closed-form solutions to different sub-problems and a new closed-form solution to the subproblem of a Timoshenko beam on an elastic foundation subjected to a moving quasi-static line load. Two examples are included to verify the solution.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2002.11a
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• pp.109-112
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• 2002

So far, the closed-form Green's functions have been derived almost for th open microstrip structures. In the present study, closed-form Green's functions for a top-covered microstrip structure are derived. And an effect of top-cover is discussed in comparison with open structure.

• Structural Engineering and Mechanics
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• v.38 no.2
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• pp.157-169
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• 2011

In this paper the time-dependent closed-form static solution of the suspended pre-stressed biconcave and biconvex cable trusses with unmovable, movable and elastic or viscoelastic yielding supports subjected to various types of vertical load is presented. Irvine's forms of the deflections and the cable equations are modified because the effects of the rheological behaviour needed to be incorporated in them. The concrete cable equations in the form of the explicit relations are derived and presented. From a solution of a vertical equilibrium equation for a loaded cable truss with rheological properties, the additional vertical deflection as a time-function is determined. The time-dependent closed-form model serves to determine the time-dependent response, i.e., horizontal components of cable forces and deflection of the cable truss due to applied loading at the investigated time considering effects of elastic deformations, creep strains, temperature changes and elastic supports. Results obtained by the present closed-form solution are compared with those obtained by FEM. The derived time-dependent closed-form computational model is used for a time-dependent simulation-based reliability assessment of cable trusses as is described in the second part of this paper.

• Journal of electromagnetic engineering and science
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• v.1 no.2
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• pp.156-160
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• 2001

Very convenient equivalent circuits fur the design of bandpass filters with an attenuation pole in the lower or upper stopband are provided together with necessary closed-form solutions. The proposed approach gives us much flexibility and simplifies the design of inserting attenuation poles.

• Coupled systems mechanics
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• v.2 no.2
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• pp.127-146
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• 2013

A closed-form solution for a fluid-structure system is presented in this article. The closed-form is used to evaluate the finite element method results through a numeric example with consideration of high frequencies of excitation. In the example, the structure is modeled as a cantilever beam with rectangular cross-section including only shear deformation and the reservoir is assumed semi-infinite rectangular filled with compressible fluid. It is observed that finite element results deviate from the closed-form in relatively higher frequencies which is the case for the near field earthquakes.

• Structural Engineering and Mechanics
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• v.40 no.1
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• pp.121-148
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• 2011

Closed form solutions for equilibrium and flexibility matrices of the Mindlin-Reissner theory based eight-node rectangular plate bending element (MRP8) using Integrated Force Method (IFM) are presented in this paper. Though these closed form solutions of equilibrium and flexibility matrices are applicable to plate bending problems with square/rectangular boundaries, they reduce the computational time significantly and give more exact solutions. Presented closed form solutions are validated by solving large number of standard square/rectangular plate bending benchmark problems for deflections and moments and the results are compared with those of similar displacement-based eight-node quadrilateral plate bending elements available in the literature. The results are also compared with the exact solutions.

• Structural Engineering and Mechanics
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• v.69 no.6
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• pp.693-698
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• 2019

In this study, the problem of axisymmetric deformation of prestressed $F{\ddot{o}}ppl-Hencky$ membrane under constrained deflecting was analytically solved and its closed-form solution was presented. The small-rotation-angle assumption usually adopted in membrane problems was given up, and the initial stress in membrane was taken into account. Consequently, this closed-form solution has higher calculation accuracy and can be applied for a wider range in comparison with the existing approximate solution. The presented numerical examples demonstrate the validity of the closed-form solution, and show the errors of the contact radius, profile and radial stress of membrane in the existing approximate solution brought by the small-rotation-angle assumption. Moreover, the influence of the initial stress on the contact radius is also discussed based on the numerical examples.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.5
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• pp.499-508
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• 2004

An efficient method of moments(MoM), which can lead to the analytical evaluation of the matrix elements, is proposed to analyze microstrip structures. The present method is formulated in conjunction with use of a new closed-form spatial-domain Green's functions which are derived by use of the integral formula for semi-infinite integrals of Bessel functions. It is observed that the computational efficiency such as the amount of calculation and computation speed has been improved due to the present MoM scheme by a factor of about 4 in comparison with the previous method. To validate the proposed method, several numerical examples are presented.