• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.2
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• pp.402-408
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• 2017

This paper deals with a robust ${\mathfrak{H}}_{\infty}$ controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi-Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.8
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• pp.2540-2545
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• 1996

It is well known that in typical displacement-based curved beam elements, the stiffness matrix is overestimated and as a result displacement predictions show gross error for the thin beam case. In this paper, a stain based curved beam element with 2 nodes is formulated based on shallow beam geometry. At the element level, the curvature and membrane strain fields are approximated independently and the displacement fields are obtained by integrating the strain fields. Three test problems are given to demonstrate the numerical performance of the element. Analysis results obtained reveal that the element is free for locking and very effectively applicable to deeply as well as shallowly curved beams.

• Structural Engineering and Mechanics
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• v.15 no.2
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• pp.199-223
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• 2003

The formulation of a non-linear shear deformable shell element is presented for the solution of stability problems of stiffened plates and shells. The formulation of the geometrical stiffness presented here is exactly defined on the midsurface and is efficient for analyzing stability problems of thick plates and shells by incorporating bending moment and transverse shear resultant force. As a result of the explicit integration of the tangent stiffness matrix, this formulation is computationally very efficient in incremental nonlinear analysis. The element is free of both membrane and shear locking behaviour by using the assumed strain method such that the element performs very well in the thin shells. By using six degrees of freedom per node, the present element can model stiffened plate and shell structures. The formulation includes large displacement effects and elasto-plastic material behaviour. The material is assumed to be isotropic and elasto-plastic obeying Von Mises's yield condition and its associated flow rules. The results showed good agreement with references and computational efficiency.

• Structural Engineering and Mechanics
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• v.69 no.5
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• pp.479-486
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• 2019

Based on the displacement general solution of a pre-twisted Euler-Bernoulli beam, the shape function and stiffness matrix are deduced, and a new finite element model is proposed. Comparison analyses are made between the new proposed numerical model based on displacement general solution and the ANSYS solution by Beam188 element based on infinite approach. The results show that developed numerical model is available for the pre-twisted Euler-Bernoulli beam, and that also provide an accuracy finite element model for the numerical analysis. The effects of pre-twisted angle and flexural stiffness ratio on the mechanical property are also investigated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.549-550
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• 2007

• Journal of Power System Engineering
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• v.17 no.1
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• pp.50-57
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• 2013

This describes the formulation for the free vibration of joined conical-cylindrical shells with uniform thickness using the transfer of influence coefficient. This method was developed based on successive transmission of dynamic influence coefficients, which were defined as the relationships between the displacement and the force vectors at arbitrary nodal circles of the system. The two edges of the shell having arbitrary boundary conditions are supported by several elastic springs with meridional/axial, circumferential, radial and rotational stiffness, respectively. The governing equations of vibration of a conical shell, including a cylindrical shell, are written as a coupled set of first order differential equations by using the transfer matrix of the shell. Once the transfer matrix of a single component has been determined, the entire structure matrix is obtained by the product of each component matrix and the joining matrix. The natural frequencies and the modes of vibration were calculated numerically for joined conical-cylindrical shells. The validity of the present method is demonstrated through simple numerical examples, and through comparison with the results of previous researchers.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.3
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• pp.246-255
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• 1997

The wave washer springs are expected to behave non-linearly between forces and displace¬ments due to contractions of the height and due to expansions in radial direction. To find out the non -linearity of wave washer springs, the three dimensional plate analysis theory using the finite element method is adopted in this paper. The wave washer springs are considered to be three dimensional plate structures rather than frame structures, because their thickness is normally much smaller than their width. The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to X - Y Z coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculate the another nodal displacements, that is, the step by step method is used in this paper. The relations between the increments of forces and displacements in each step are recorded and plotted in chart. The experimental results are compared with the calculated chart and it is shown that there are good coincidences between measured values and calculated ones.

• Structural Engineering and Mechanics
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• v.60 no.1
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• pp.111-130
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• 2016

Two new elements with six degrees of freedom are proposed by applying the equilibrium conditions and strain-displacement equations. The first element is formulated for the infinite ratio of beam radius to thickness. In the second one, theory of the thick beam is used. Advantage of these elements is that by utilizing only one element, the exact solution will be obtained. Due to incorporating equilibrium conditions in the presented formulations, both proposed elements gave the precise internal forces. By solving some numerical tests, the high performance of the recommended formulations and also, interaction effects of the bending and axial forces will be demonstrated. While the second element has less error than the first one in thick regimes, the first element can be used for all regimes due to simplicity and good convergence. Based on static responses, it can be deduced that the first element is efficient for all the range of structural characteristics. The free vibration analysis will be performed using the first element. The results of static and dynamic tests show no deficiency, such as, shear and membrane locking and excessive stiff structural behavior.

• Structural Engineering and Mechanics
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• v.45 no.3
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• pp.355-371
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• 2013

Single- and multi-span orthotropic functionally graded hollow cylinders subjected to axisymmetrical bending are investigated on the basis of a unified shear deformable shell theory, in which the transverse displacement is expressed by means of a general shape function. To approach the through-thickness inhomogeneity of the hollow cylinder, a laminated model is employed. The shape function therefore shall be determined for each fictitious layer. To improve the computational efficiency, we resort to a transfer matrix method. Based on the principle of minimum potential energy, equilibrium equations are established, which are then solved analytically using the transfer matrix method for arbitrary boundary conditions. Numerical comparisons among a third-order shear deformable shell theory, an exact elastic theory and the present theory are provided for a simply supported hollow cylinder, from which the present theory turns out to be superior in stress estimation. Distributions of displacements and stresses in single- and three-span hollow cylinders with different boundary conditions are also illustrated in numerical examples.