• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• 대한수학교육학회지:학교수학
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• 제14권4호
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• pp.565-577
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• 2012

본 연구에서는 중학교 3학년 학생들에게 닮은 삼각형의 대응변 사이에 성립하는 비례적 성질에 기초하여 역동적 기하환경에서 이차방정식 $x^2-ax+b^2=0$의 해를 작도할 수 있는 기회를 제공하였다. 이 예비연구를 통해 이차방정식의 해에 대한 학생들의 기하학적 직관을 촉진시키고 $a$와 $b$의 값에 따라 이차방정식의 해가 어떻게 달라지는지 시각적으로 확인해 보게 하였다. 또한, 이 과정에서 학생들이 이차방정식의 해를 구하기 위해서 어떤 전략을 사용하는지 분석하여 이차방정식 지도 방법의 새로운 가능성을 살펴보고자 하였다.

• 전산구조공학
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• 제8권4호
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• pp.57-64
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• 1995

본 논문에서는 이동물체에 의해 가진 받는 보의 동적반응을 보다 용이하게 다룰 수 있는 간결한 수치해석 알고리즘을 제안하였다. 구조물과 이동물체를 각각 균일한 Euler보와 질점으로 모델링하여 보의 운동방정식을 유도하였으며 이 식을 유연영향함수를 이용하여 적분형 미분방정식으로 바꾸어줌으로써 수치해석에 적용할 수 있는 형태로 바꾸어 주었다. 유도된 운동방정식을 모우드 해석기법을 이용하여 수치해를 구하였으며 기존의 수치해석 연구결과들과 비교하여 본 연구결과의 타당성을 검증함으로써 본 연구에서 개발한 수치해석 알고리즘은 이동물체에 의해 가진받는 보의 초기 해석과 설계과정에서 효율적으로 사용할 수 있음을 보였다.

• Coupled systems mechanics
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• 제9권1호
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• pp.77-89
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• 2020

This study is dedicated to the dynamic elasticity problem for a semi-strip. The semi-strip is loaded by the dynamic load at the center of its short edge. The conditions of fixing are given on the lateral sides of the semi-strip. The initial problem is reduced to one-dimensional problem with the help of Laplace's and Fourier's integral transforms. The one-dimensional boundary problem is formulated as the vector boundary problem in the transform's domain. Its solution is constructed as the superposition of the general solution for the homogeneous vector equation and the partial solution for the inhomogeneous vector equation. The matrix differential calculation is used for the deriving of the general solution. The partial solution is constructed with the help of Green's matrix-function, which is searched as the bilinear expansion. The case of steady-state oscillations is considered. The problem is reduced to the solving of the singular integral equation. The orthogonalization method is applied for the calculations. The stress state of the semi-strip is investigated for the different values of the frequency.

• 대한공업교육학회지
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• 제30권2호
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• pp.115-122
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• 2005

For an analysis of dynamic behavior in carbon nanotube(CNT) which is widely used as micro and nano-sensors, an electrostatic force of CNT was investigated. For larger gaps in between sensor and electrode the van der Waals force can be ignored. The boundary condition in the CNT was assumed to clamped-clamped case at both ends. In this paper electrostatic force is expressed as linear equation along deflection using Taylor series. The first and second terms(${\zeta}_0$ and ${\zeta}_1$) of the linear equation are analyzed. Based on the simulation results nondimensional number ${\Phi}_0$ and ${\Phi}_1$ which came from ${\zeta}_0$ and ${\zeta}_1$ were decreased according to the increment of the gap. Reduction ratio of the second term ${\zeta}_1$ is increased up to 99% along to the increment of the gap. The higher order terms can be ignored and therefore, electrostatic force can be expressed using the first two terms of the linear equation. This results play an important role in analyzing the nonlinear dynamic behavior of the CNT as well as the pull-in voltage of simply supported switches.

• Structural Engineering and Mechanics
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• 제52권5호
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• pp.997-1017
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• 2014

According to the structure characteristics of the non-uniform beam bridge, a practical model for calculating the vibration equation of the non-uniform beam bridge is given and the application scope of the model includes not only the beam bridge structure but also the non-uniform beam with added masses and elastic supports. Based on the Bernoulli-Euler beam theory, extending the application of the modal perturbation method and establishment of a semi-analytical method for solving the vibration equation of the non-uniform beam with added masses and elastic supports based is able to be made. In the modal subspace of the uniform beam with the elastic supports, the variable coefficient differential equation that describes the dynamic behavior of the non-uniform beam is converted to nonlinear algebraic equations. Extending the application of the modal perturbation method is suitable for solving the vibration equation of the simply supported and continuous non-uniform beam with its arbitrary added masses and elastic supports. The examples, that are analyzed, demonstrate the high precision and fast convergence speed of the method. Further study of the timesaving method for the dynamic characteristics of symmetrical beam and the symmetry of mode shape should be developed. Eventually, the effects of elastic supports and added masses on dynamic characteristics of the three-span non-uniform beam bridge are reported.

• Structural Engineering and Mechanics
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• 제55권5호
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• pp.1055-1086
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• 2015

The dynamic response of two-dimensional unbounded domain on the rigid bedrock in the time domain is numerically obtained. It is realized by the modified scaled boundary finite element method (SBFEM) in which the original scaling center is replaced by a scaling line. The formulation bases on expanding dynamic stiffness by using the continued fraction approach. The solution converges rapidly over the whole time range along with the order of the continued fraction increases. In addition, the method is suitable for large scale systems. The numerical method is employed which is a combination of the time domain SBFEM for far field and the finite element method used for near field. By using the continued fraction solution and introducing auxiliary variables, the equation of motion of unbounded domain is built. Applying the spectral shifting technique, the virtual modes of motion equation are eliminated. Standard procedure in structural dynamic is directly applicable for time domain problem. Since the coefficient matrixes of equation are banded and symmetric, the equation can be solved efficiently by using the direct time domain integration method. Numerical examples demonstrate the increased robustness, accuracy and superiority of the proposed method. The suitability of proposed method for time domain simulations of complex systems is also demonstrated.

• Structural Engineering and Mechanics
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• 제19권3호
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• pp.281-295
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• 2005

An analytical method is presented to solve the elastodynamic problem of finitely long hollow cylinder subjected to torsional impact often occurs in engineering mechanics. The analytical solution is composed of a solution of quasi-static equation satisfied with the non-homogeneous boundary condition and a solution of dynamic equation satisfied with homogeneous boundary condition. The quasi-static solution is obtained directly by solving the quasi-static equation satisfied with the non-homogeneous boundary condition. The solution of the non-homogeneous dynamic equation is obtained by means of finite Hankel transform on the radial variable, r, Laplace transform on time variable, t, and finite Fourier transform on axial variable, z. Thus, the solution for finitely long, hollow cylinder subjected to torsion impact is obtained. In the calculating examples, the response histories and distributions of shear stress in the finitely long hollow cylinder subjected to an exponential decay torsion load are obtained, and the results have been analyzed and discussed. Finally, a dynamic finite element for the same problem is carried out by using ABAQUS finite element analysis. Comparing the analytical solution with the finite element solution, it can be found that two kinds of results obtained by means of two different methods agree well. Therefore, it is further concluded that the analytical method and computing process presented in the paper are effective and accurate.

• Computers and Concrete
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• 제33권2호
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• pp.217-240
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• 2024

The purpose of this study is to propose new hysteretic characteristics of medium- to low-rise RC structures controlled by both shear and flexure. Through previous study, the dual lateral force-resisting system composed of shear and flexural failure members has a new failure mechanism that cooperates to enhance the flexural capacity of the flexural failure member even after the failure of the shear member, and the existing theoretical equation significantly underestimates the ultimate strength. In this study, the residual lateral strength mechanism of the dual lateral force-resisting system was analyzed, and, as a result, an equation for estimating the residual flexural strength of each shear-failure member was proposed. The residual flexural strength of each shear-failure member was verified in comparison with the structural testing results obtained in previous study, and the proposed residual flexural strength equation for shear-failure members was tested for reliability using FEA, and its applicable range was also determined. In addition, restoring-force characteristics for evaluating the seismic performance of the dual lateral force-resisting system (nonlinear dynamic analysis), reflecting the proposed residual flexural strength equation, were proposed. Finally, the validity of the restoring-force characteristics of RC buildings equipped with the dual lateral force-resisting system proposed in the present study was verified by performing pseudo-dynamic testing and nonlinear dynamic analysis based on the proposed restoring-force characteristics. Based on this comparative analysis, the applicability of the proposed restoring-force characteristics was verified.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.204-209
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• 2004

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 and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on 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 torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.