• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.217-221
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• 2016

In this paper, a springboard for diving is analysed to find out how much force a diver should apply to reach specific height when the diver jumps. The springboard is presumed to Co-rotational plane cantilever beam(CR-beam), so EDISON program related to Co-rotational framework is used. The force of the person is supposed to sine function and the demanded height is fixed. Same velocity makes same height regardless of diver's weight. So, the velocity of springboard when the feet of a diver are separated from the springboard is a main factor of the analysis. The result shows that there is no association between deformation and weight and also between velocity and weight. That is, the required force to reach a optimal height is fixed whatever the diver's weight is.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.5
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• pp.485-490
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• 2015

This paper presents development of a geometrically nonlinear triangular planar element including rotational degrees of freedom, based on the co-rotational(CR) formulation. The CR formulation is one of the efficient geometrically nonlinear formulations and it is based on the assumptions on small strain and large rotation. In this paper, modified CR formulation is suggested for the developemnt of a triangular planar element. The present development is validated regarding the static and time transient problems. The present results are compared with the results predicted by the previous researchers and those obtained by the existing commercial software.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.9
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• pp.775-780
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• 2016

In this paper, a computational algorithm of an improved and versatile structural analysis applicable for large-size flexible nonlinear structures is developed. In more detail, nonlinear finite element based on the co-rotational (CR) framework is developed. Then, a finite element tearing and interconnecting method using local Lagrange multipliers (FETI-local) is combined with the nonlinear CR finite element. The resulting computational algorithm is presented and applied for nonlinear static analyses, i.e., cantilevered beam and multibody structure. Finally, the proposed analysis is evaluated with regard to its parallel computation performance, and it is compared with those obtained by serial computation using the sparse matrix linear solver, PARDISO.

• Structural Engineering and Mechanics
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• v.67 no.6
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• pp.629-641
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• 2018

The paper describes the development of a two-dimensional (2D) co-rotational nonlinear beam finite element that includes advanced path-following capabilities for detecting bifurcation instability in elasto-plasticity of steel elements subjected to fire without introducing imperfections. The advantage is twofold: i) no need to assume the magnitude of the imperfections and consequent reduction of the model complexity; ii) the presence of possible critical points is checked at each converged time step based on the actual load and stiffness distribution in the structure that is affected by the temperature field in the elements. In this way, the buckling modes at elevated temperature, that may be different from the ones at ambient temperature, can be properly taken into account. Moreover, an improved displacement predictor for estimating the displacement field allowed significant reduction of the computational cost. A co-rotational framework was exploited for describing the beam kinematic. In order to highlight the potential practical implications of the developed finite element, a parametric analysis was performed to investigate how the beam element compares both with the EN1993-1-2 buckling curve and with experimental tests on axially compressed steel members. Validation against experimental data and numerical outcomes obtained with commercial software is thoroughly described.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.