• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Journal of Ocean Engineering and Technology
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• v.15 no.2
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• pp.135-140
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• 2001

A simply supported pipe conveying fluid and a moving mass upon it constitute a vibrational system. The equation of motion is derived by using Lagrange's equation. The influence of the velocity and the inertia force of a moving mass and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipe by numerical method. The velocities of fluid low are considered within its critical values of the simply supported pipe without a moving mass upon it. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. as the velocity of a moving mass increases, the deflection of midspan of a simply supported pipe conveying fluid is increased and the frequency of transverse vibration of the pipe is not varied. Increasing of the velocity of fluid flow makes the frequency of transverse vibration of the simply supported pipe conveying fluid decrease and the deflection of midspan of the pipe increase. The deflection of the simply supported pipe conveying fluid is increased by a coupling of the moving mass and the velocities of a moving mass and fluid flow.

• Smart Structures and Systems
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• v.15 no.3
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• pp.523-541
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• 2015

Structural health monitoring of steel truss bridge based on changes in modal properties was investigated in this study. Vibration measurements with five sensors were conducted at an existing Warren truss bridge with partial fractures in diagonal members before and after an emergency repair work. Modal properties identified by the Eigensystem Realization Algorithm showed evidences of increases in modal damping due to the damage in diagonal member. In order to understand the dynamic behavior of the bridge and possible mechanism of those increases in modal damping, theoretical modal analysis was conducted with three dimensional frame models. It was found that vibrations of the main truss could be coupled internally with local vibrations of diagonal members and the degree of coupling could change with structural changes in diagonal members. Additional vibration measurements with fifteen sensors were then conducted so as to understand the consistency of those theoretical findings with the actual dynamic behavior. Modal properties experimentally identified showed that the damping change caused by the damage in diagonal member described above could have occurred in a diagonal-coupled mode. The results in this study imply that damages in diagonal members could be detected from changes in modal damping of diagonal-coupled modes.

• Coupled systems mechanics
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• v.9 no.2
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• pp.183-200
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• 2020

Connection of adjacent buildings with stiff links is an efficient approach for seismic pounding mitigation. However, use of highly rigid links might alter the torsional response in asymmetric plans and although this was mentioned in the literature, no quantitative study has been done before to investigate the condition numerically. In this paper, the effect of rigid coupling on the elastic lateral-torsional response of two adjacent one-story column-type buildings has been studied by comparison to uncoupled structures. Three cases are considered, including two similar asymmetric structures, two adjacent asymmetric structures with different dynamic properties and a symmetric system adjacent to an adjacent asymmetric one. After an acceptable validation against the actual earthquake, the traditional random vibration method has been utilized for dynamic analysis under Ideal white noise input. Results demonstrate that rigid coupling may increase or decrease the rotational response, depending on eccentricities, torsional-to-lateral stiffness ratios and relative uncoupled lateral stiffness of adjacent buildings. Results are also discussed for the case of using identical cross section for all columns supporting eachplan. In contrast to symmetric systems, base shear increase in the stiffer building may be avoided when the buildings lateral stiffness ratio is less than 2. However, the eccentricity increases the rotation of the plans for high rotational stiffness of the buildings.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.94-98
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• 2003

Remotely Operated Vehicle. ROV is a new concept equipment being made to replace the manned systems for investigating the deep sea environment. This paper presents the dynamic cable response during ROV launching considering the coupling effects of ship motion. By the harmonic response analysis, the variations of cable tensions were obtained. Harmonic forces in head/beam sea states were calculated by the concept of relative acceleration which obtained by ship motion analysis.

• Geomechanics and Engineering
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• v.17 no.4
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• pp.393-403
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• 2019

The cycling impact test of red sandstone soil under different axial pressure and different impact loads are conducted to reveal the mechanical properties and energy consumption mechanism of red sandstone soil with static-dynamic coupling loading. The results show that: Under the action of different axial pressure and different impact loads, the peak stress of the specimen increases, and then tends to be stable with the times of impact. With the increase of impact times, the specific energy absorption value of the red sandstone soil specimen is increased first and then gentle development trend. When the impact loads are certain, the larger the axial pressure is, the smaller the peak value of energy absorption, which indicates that the energy utilization rate is not high under the condition of large axial pressure. Through the analysis of energy utilization, it is found that the smaller the impact load, the higher the energy utilization rate. The greater the axial pressure, the lower the energy utilization rate. when the axial pressure is large, the impact loads corresponding to the maximum values of reflectivity, transmissivity and absorptivity are the same. The relationship between reflectivity and transmissivity is negatively correlated.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.154-164
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• 2019

A rotor dynamic analysis is mandatory for stability and design optimization of submerged propellers and turbines. An accurate simulation requires a proper consideration of fluid-induced reaction forces. This paper presents a bi-directional coupling of a bond graph method solver and an unsteady vortex lattice method solver where the former is used to model the rotor dynamics of the power train and the latter is used to predict transient hydrodynamic forces. Due to solver coupling, determination of hydrodynamic coefficients is obsolete and added mass effects are considered automatically. Additionally, power grid and structural faults like grid fluctuations, eccentricity or failure could be investigated using the same model. In this research work a fast, time resolved dynamic simulation of the complete power train is conducted. As an example, the rotor dynamics of a tidal stream turbine is investigated under two inflow conditions: I - shear flow, II - shear flow + water waves.

• Computers and Concrete
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• v.29 no.4
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• pp.209-217
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• 2022

In order to analyze the static and dynamic structural characteristics of the Obermeyer gate under overflow conditions, the force characteristics and vibration characteristics of the shield plate structure are studied based on the fluid-solid coupling theory. In this paper, the effects of the flow rate, airbag pressure and overflow water level on the structural performance of shield plate of air shield dam are explored through the method of controlling variables. The results show that the maximum equivalent stress and total deformation of the shield plate decrease first and then increase with the flow velocity. In addition, they are positively correlated with the airbag pressure. What's more, we find that the maximum equivalent stress of the shield plate decreases first and then increases with the overflow water level, and the total deformation of the shield plate decreases with the overflow water level. What's more importantly, the natural frequency of the shield structure of the Obermeyer gate is concentrated at 50 Hz and 100 Hz, so there is still the possibility of resonance. Once the resonance occurs, the free edge of the shield vibrates back and forth. This work may provide a theoretical reference for the safe and stable operation of the shield of the Obermeyer gate.

• Interaction and multiscale mechanics
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• v.3 no.2
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• pp.192-211
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• 2010

In most framed structures the nonlinearities and the damages are localized, extending over a limited length of the structural member. In order to capture the details of the local damage, the segments of a member that have entered the nonlinear range may need to be analyzed using the three-dimensional element (3D) model whereas the rest of the member can be analyzed using the simpler one-dimensional (1D) element model with fewer degrees of freedom. An Element-Coupling model was proposed to couple the small scale solid 3D elements with the large scale 1D beam elements. The mixed dimensional coupling is performed imposing the kinematic coupling hypothesis of the 1D model on the interfaces of the 3D model. The analysis results are compared with test results of a reinforced concrete pipe column and a structure consisting of reinforced concrete columns and a steel space truss subjected to static and dynamic loading. This structure is a reduced scale model of a direct air-cooled condenser support platform built in a thermal power plant. The reduction scale for the column as well as for the structure was 1:8. The same structures are also analyzed using 3D solid elements for the entire structure to demonstrate the validity of the Element-Coupling model. A comparison of the accuracy and the computational effort indicates that by the proposed Element-Coupling method the accuracy is almost the same but the computational effort is significantly reduced.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.376-386
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• 2020

The aim of this study was to develop a new efficient strategy that uses the Vector form Intrinsic Finite-element (VFIFE) method to conduct the static and dynamic analyses of marine pipes. Nonlinear problems, such as large displacement, small strain, and contact and collision, can be analyzed using a unified calculation process in the VFIFE method according to the fundamental theories of point value description, path element, and reverse motion. This method enables analysis without the need to integrate the stiffness matrix of the structure, because only motion equations of particles established according to Newton's second law are required. These characteristics of the VFIFE facilitate the modeling and computation efficiencies in analyzing the nonlinear dynamic problem of flexible pipe with large deflections. In this study, a three-dimensional (3-D) dynamical model based on 3-D beam element was established according to the VFIFE method. The deep-sea flexible pipe was described by a set of spatial mass particles linked by 3-D beam element. The motion and configuration of the pipe are determined by these spatial particles. Based on this model, a simulation procedure to predict the 3-D dynamical behavior of flexible pipe was developed and verified. It was found that the spatial configuration and static internal force of the mining pipe can be obtained by calculating the stationary state of pipe motion. Using this simulation procedure, an analysis was conducted on the static and dynamic behaviors of the flexible mining pipe based on a 1000-m sea trial system. The results of the analysis proved that the VFIFE method can be efficiently applied to the static and dynamic analyses of marine pipes.