• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2010년도 제34회 춘계학술대회논문집
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• pp.397-400
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• 2010

충격파 유도 연소장에서의 적응격자기법의 유용성을 확인하기 위하여 화학반응식을 포함한 2차원 Euler 방정식을 이용하여 삼각형 비정렬 적응격자계에서 계산을 수행하였다. 2차원 쐐기형상에 대하여 냉가스 및 열가스 유동 해석을 수행하였다. 적응격자를 이용하여 경사충격파에서 폭굉파로의 천이를 잘 관찰 할 수 있었고, 유도영역, 천이영역, 폭굉영역 등의 특성을 잘 모사하는 것을 확인 할 수 있었다. 본 연구를 통하여 연소장이 포함된 고속압축성 유동장에서의 비정렬 적응격자의 유용성을 확인 할 수 있었다.

• Advances in biomechanics and applications
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• 제1권2호
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• pp.85-93
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• 2014

In this paper, two procedures of enumerating the axial rotation are proposed using the unit sphere of the spherical rotation coordinate system specifying 3D rotation. If the trajectory of the movement is known, the integration of the axial component of the angular velocity plus the geometric effect equal to the enclosed area subtended by the geodesic path on the surface of the unit sphere. If the postures of the initial and final positions are known, the axial rotation is determined by the angular difference from the parallel transport along the geodesic path. The path dependency of the axial rotation of the three dimensional rigid body motion is due to the geometric effect corresponding to the closed loop discontinuity. Firstly, the closed loop discontinuity is examined for the infinitesimal region. The general closed loop discontinuity can be evaluated by the summation of those discontinuities of the infinitesimal regions forming the whole loop. This general loop discontinuity is equal to the surface area enclosed by the closed loop on the surface of the unit sphere. Using this quantification of the closed loop discontinuity of the axial rotation, the geometric effect is determined in enumerating the axial rotation. As an example, the axial rotation of the arm by the Codman's movement is evaluated, which other methods of enumerating the axial rotations failed.

• Current Optics and Photonics
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• 제3권2호
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• pp.154-163
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• 2019

In this study, we developed an optical sighting system capable of shooting at a long-distance target by operating a digital gyro mirror composed of a gyro sensor and an FSM. The optical sighting system consists of a reticle part, a digital gyro mirror (FSM), a parallax correction lens, a reticle-ray reflection mirror, and a partial reflection window. In order to obtain the optimal volume and to calculate the leading angle range according to the driving angle of the FSM, a calculation program using Euler rotation angles and a three-dimensional reflection matrix was developed. With this program we have confirmed that the horizontal leading angle of the developed optical sighting system can be implemented under about ${\pm}8^{\circ}$ for the maximum horizontal driving angle (${\beta}={\pm}12.5^{\circ}$) of the current FSM. Also, if the ${\beta}$ horizontal driving angle of the FSM is under about ${\pm}15.5^{\circ}$, it can be confirmed that the horizontal direction leading angle can be under ${\pm}10.0^{\circ}$. If diagonal leading angles are allowed, we confirmed that we can achieve a diagonal leading angle of ${\pm}10.0^{\circ}$ with a vertical driving angle ${\alpha}$ of ${\pm}7.1^{\circ}$ and horizontal driving angle ${\beta}$ of ${\pm}12.5^{\circ}$.

• 한국군사과학기술학회지
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• 제24권6호
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• pp.619-628
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• 2021

In order to compare numerical analyses made by Song and Kim needed for predicting gas and water filling with experimental results we conducted an experiment to recover a test projectile (43.7 kg with a 155 mm diameter) at a velocity of 775 m/s in a soft recovery system with a length of 179 m using pressurized gas and filled water. The soft recovery system consisting of a series of pressure tubes had a diaphragm, piston, and water plug for filling the pressurized gas and water. We installed a continuous wave Doppler radar system for velocity measurements of the test projectile travelling in the pressure tubes and pressure transducers for measuring the pressure in the soft recovery system. Continuous wave Doppler radar has the advantage of achieving real-time measurements of the velocity of a test projectile. The velocity-time curve of the test projectile, measured using the continuous wave Doppler radar, and the pressure profile were compared with the numerical analysis results. The experiment results show good agreement with the numerical analysis results based on the one-dimensional Euler equation with an HLL Riemann solver.

• Steel and Composite Structures
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• 제43권6호
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• pp.809-819
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• 2022

This paper proposes a method to predict the deflection of prestressed concrete (PC) beams with corrugated steel web (CSW) under constant load concerning time-dependent variation in concrete material. Over time, the top and bottom concrete slabs subjected to asymmetric compression experience shrinkage and creep deformations. Here, the classical Euler-Bernoulli beam theory assumption that the plane sections remain plane is not valid due to shear deformation of CSW. Therefore, this study presents a method based on the first-order shear deformation to find the long-term deflection of the composite beams under bending by considering time effects. Two experimental prestressed beams of this type were monitored under their self-weight over time, and the theoretical results were compared with those data. Additionally, 3D analytical models of the experimental beams were used according to material properties, and the results were compared with two previous cases. There was good consistency between the analytical and numerical results with low error, which increased by wave radius. It is concluded that the proposed method could reliably be used for design purposes.

• Advances in nano research
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• 제12권2호
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• pp.167-183
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• 2022

In this paper, the free and forced vibration analysis of rotating cantilever nanoscale cylindrical beams and tubes is investigated under the external dynamic load to examine the nonlocal effect. A couple of nonlocal strain gradient theories with different beams and tubes theories, involving the Euler-Bernoulli, Timoshenko, Reddy beam theory along with the higher-order tube theory, are assumed to the mathematic model of governing equations employing the Hamilton principle in order to derive the nonlocal governing equations related to the local and accurate nonlocal boundary conditions. The two-dimensional functional graded material (2D-FGM), made by the axially functionally graded (AFG) in conjunction with the porosity distribution in the radial direction, is considered material modeling. Finally, the derived Partial Differential Equations (PDE) are solved via a couple of the generalized differential quadrature element methods (GDQEM) with the Newmark-beta techniques for the time-dependent results. It is indicated that the boundary conditions equations play a crucial task in responding to nonlocal effects for the cantilever structures.

• Steel and Composite Structures
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• 제42권1호
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• pp.75-90
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• 2022

The pointwise equilibrium polynomial (PEP) element considering local second-order effect has been widely used in direct analysis of many practical engineering structures. However, it was derived according to Euler-Bernoulli beam theory and therefore it cannot consider shear deformation, which may lead to inaccurate prediction for deep beams. In this paper, a novel beam-column element based on Timoshenko beam theory is proposed to overcome the drawback of PEP element. A fifth-order polynomial is adopted for the lateral deflection of the proposed element, while a quadric shear strain field based on equilibrium equation is assumed for transverse shear deformation. Further, an additional quadric function is adopted in this new element to account for member initial geometrical imperfection. In conjunction with a reliable and effective three-dimensional (3D) co-rotational technique, the proposed element can consider both member initial imperfection and transverse shear deformation for second-order direct analysis of frame structures. Some benchmark problems are provided to demonstrate the accuracy and high performance of the proposed element. The significant adverse influence on structural behaviors due to shear deformation and initial imperfection is also discussed.

• Coupled systems mechanics
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• 제13권3호
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• pp.247-275
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• 2024

The paper studies the influence of the fluid flow velocity and flow direction in the initial state on the dispersion of the axisymmetric waves propagating in the inhomogeneously pre-stressed hollow cylinder containing this fluid. The corresponding eigenvalue problem is formulated within the scope of the three-dimensional linearized theory of elastic waves in bodies with initial stresses, and with linearized Euler equations for the inviscid compressible fluid. The discrete-analytical solution method is employed, and analytical expressions of the sought values are derived from the solution to the corresponding field equations by employing the discrete-analytical method. The dispersion equation is obtained using these expressions and boundary and related compatibility conditions. Numerical results related to the action of the fluid flow velocity and flow direction on the influence of the inhomogeneous initial stresses on the dispersion curves in the zeroth and first modes are presented and discussed. As a result of the analyses of the numerical results, it is established how the fluid flow velocity and flow direction act on the magnitude of the influence of the initial inhomogeneous stresses on the wave propagation velocity in the cylinder containing the fluid.

• 한국컴퓨터정보학회논문지
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• 제19권7호
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• pp.71-76
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• 2014

대표적인 공개키 암호방식인 RSA에 사용되는 합성수 n=pq의 큰자리 소수 p,q를 소인수분해하여 구하는 것은 사실상 불가능하다. 공개키 e와 합성수 n은 알고 개인키 d를 모를 때, ${\phi}(n)=(p-1)(q-1)=n+1-(p+q)$을 구하여 $d=e^{-1}(mod{\phi}(n))$의 역함수로 개인키 d를 해독할수 있다. 따라서 ${\phi}(n)$을 알기위해 n으로부터 p,q를 구하는 수학적 난제인 소인수분해법을 적용하고 있다. 소인수분해법에는 n/p=q의 나눗셈 시행법보다는 $a^2{\equiv}b^2(mod\;n)$, a=(p+q)/2,b=(q-p)/2의 제곱합동법이 일반적으로 적용되고 있다. 그러나 다양한 제곱합동법이 존재함에도 불구하고 아직까지도 많은 RSA 수들이 해독되지 않고 있다. 본 논문은 ${\phi}(n)$을 직접 구하는 알고리즘을 제안하였다. 제안된 알고리즘은 $2^j{\equiv}{\beta}_j(mod\;n)$, $2^{{\gamma}-1}$ < n < $2^{\gamma}$, $j={\gamma}-1,{\gamma},{\gamma}+1$에 대해 $2^k{\beta}_j{\equiv}2^i(mod\;n)$, $0{\leq}i{\leq}{\gamma}-1$, $k=1,2,{\ldots}$ 또는 $2^k{\beta}_j=2{\beta}_j$로 ${\phi}(n)$을 구하였다. 제안된 알고리즘은 $n-10{\lfloor}{\sqrt{n}}{\rfloor}$ < ${\phi}(n){\leq}n-2{\lfloor}{\sqrt{n}}{\rfloor}$의 임의의 위치에 존재하는 ${\phi}(n)$도 약 2배 차이의 수행횟수로 찾을 수 있었다.