• Structural Engineering and Mechanics
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• 제81권6호
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• pp.705-714
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• 2022

The aim of this paper is to investigate nonlinear dynamic responses of functionally graded composite beam resting on the nonlinear viscoelastic foundation subjected to moving mass with temperature rising. The non-linear strain-displacement relationship is considered in the finite strain theory and the governing nonlinear dynamic equation is obtained by using the Hamilton's principle. The Galerkin's decomposition technique is utilized to discretize the governing nonlinear partial differential equation to nonlinear ordinary differential equation and then the governing equation is solved by using of multiple time scale method. The influences of temperature rising, material distribution parameter, nonlinear viscoelastic foundation parameters, magnitude and velocity of the moving mass on the nonlinear dynamic responses are investigated. Also, the buckling temperatures of the functionally graded beams based on the finite strain theory are obtained.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Journal of Advanced Marine Engineering and Technology
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• 제34권8호
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• pp.1084-1093
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• 2010

화염 전파 특성을 나타내는 G 방정식에 기초한 Sub-grid Scale연소 모델을 이용하여 보염기 주위의 난류 예혼합 연소 해석에 관한 대 와동 모사를 수행하였다. Dynamic SGS 모델이 G방정식에 도입되었으며, 삼각형의 보염기 배면의 예혼합 연소 유동에 의해 검증되었다. 해석결과는 실험결과와의 비교를 통해 속도와 온도분포를 잘 예측하고 있음을 확인하였다.

• 한국지반공학회논문집
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• 제18권3호
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• pp.126-126
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• 2002

지진에 의한 지반거동 및 지반-구조물 상호작용 등 지반동역학적 문제분석을 위해서는 정확한 동적 토질전단탄성계수의 획득이 필수적이다. 본 연구에서는 기존의 자료를 조사분석하여 어떤 변형율에서도 활용할 수 있는 사질토 전단탄성계수 감소곡선을 위한 경험식을 제안하였다. 비소성 토질의 전단탄성계수 감소곡선의 위치와 모양은 평균유효구속압에 주로 영향을 받으므로 본 연구에서는 이 영향요소 및 최대전단탄성계수를 이용하여 변형을 증가에 의한 전단탄성계수 감소를 산정할 수 있는 방정식을 형성하였다. 최대전단탄성계수가 측정되면 제안된 식을 이용하여 특정 변형을 및 구속압에서 감소된 전단탄성계수를 산출할 수 있을 것이다.

• 한국지반공학회논문집
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• 제18권3호
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• pp.127-138
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• 2002

지진에 의한 지반거동 및 지반-구조물 상호작용 등 지반동역학적 문제분석을 위해서는 정확한 동적 토질전단탄성계수의 획득이 필수적이다. 본 연구에서는 기존의 자료를 조사분석하여 어떤 변형율에서도 활용할 수 있는 사질토 전단탄성계수 감소곡선을 위한 경험식을 제안하였다. 비소성 토질의 전단탄성계수 감소곡선의 위치와 모양은 평균유효구속압에 주로 영향을 받으므로 본 연구에서는 이 영향요소 및 최대전단탄성계수를 이용하여 변형을 증가에 의한 전단탄성계수 감소를 산정할 수 있는 방정식을 형성하였다. 최대전단탄성계수가 측정되면 제안된 식을 이용하여 특정 변형을 및 구속압에서 감소된 전단탄성계수를 산출할 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.188-188
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• 2000

The most important problem in target tracking can be said to be modeling the tracking system correctly. Although the simple linear dynamic equation for this model has used until now, the satisfactory performance could not be obtained owing to uncertainties of the real systems in the case of designing the filters baged on the dynamic equations. In this paper, we propose the extended robust Kalman filter (ERKF) which can be applied to the real target tracking system with the parameter uncertainties. A nonlinear dynamic equation with parameter uncertainties is used to express the uncertain system model mathematically, and a measurement equation is represented by a nonlinear equation to show data from the radar in a Cartesian coordinate frame. To solve the robust nonlinear filtering problem, we derive the extended robust Kalman filter equation using the Krein space approach and sum quadratic constraint. We show the proposed filter has better performance than the existing extended Kalman filter (EKF) via 3-dimensional target tracking example.

• 한국군사과학기술학회지
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• 제11권2호
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• pp.116-124
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• 2008

Current paper investigates the dynamic behavior and stability of an infrared search and track subjected to external disturbance having gimbal structure with three rotating axes keeping constant angular velocity in the azimuth direction. Euler-Lagrange equation is applied to derive the coupled nonlinear dynamic equation of motion of infrared search and track and the characteristics of dynamic coupling are investigated. Two equilibrium points with small variations from the nonlinear coupling system are derived and the specific condition from which a coupled equation can be three independent equations is derived. Finally, to examine the stability of system, Lyapunov direct method was used and system stability and stability boundaries are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.19-22
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• 1987

A program is developed for generations the dynamic equations for robotic manipulators using the symbolic language muSIMP/MATH. The muSIMP/MATH is a LISP-based computer algebra package, devoted to the manipulation of algebraic expressions including number, variables, functions, and matrix. The muSIMP/MATH can operate on IBM-PC compatibles with MS-DOS. The program is developed, on the e formalism. This is program is applicable to the manipulators of any number of degrees of freedom, maximum six degree of freedom in this program. To control robotic manipulators by using dynamic equation is required a symbolic equations. The generated dynamic equation can be applied directly to the robotic manipulators, for the generated dynamic equation is a reduced form of symbolic expression.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.757-761
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• 2008

The aerostat dynamic equation of motion has been built including the tether cable dynamic effects. A numerical program to solve the derived equation of motion has been developed. The dynamic motion of the 32m aerostat has been analyzed under discrete gust and continuous turbulence. The aerostat behaviors under discrete gust which represents a deterministic approach for determining design loads for manned aircraft are solved to verify the effect of aerostat mechanical properties on the aerostat dynamic behavior. Continuous turbulences are simulated for each given altitude, translational mean wind velocity and gust intensity. Dynamic behaviors of the 32m aerostat are simulated for each continuous turbulence conditions. Translational and vertical velocity and pitching behavior and tether reaction force are monitored for each simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 A
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• pp.155-157
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• 1998

The Moving Coil type Linear Oscillatory Actuator(MC-LOA) is widely used in system needed reciprocation of short stroke. MC-LOA is suitable for high speed operation and correctness stroke control. This paper designed a MC-LOA to combine mechanical dynamic equation with electric dynamic equation. Electric dynamic equation was obtained from equivalent circuit and the parameters were obtained using Finite Element Method (FEM). Then, we analyzed the dynamic and steady state characteristics of the designed MC-LOA.