• 한국지반공학회논문집
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• 제19권4호
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• pp.145-153
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• 2003

공진주 실험은 탄성파 이론을 이용하여 흙의 동적 물성, 즉 전단변형률의 크기에 따른 전단탄성계수와 재료감쇠비를 측정하는 실험이다. 공진주 실험에 의한 시료의 동적물성의 측정은 공진주 실험 시스템의 동적 거동에 대한 이해를 전제로 한다. 공진주 실험의 시료 및 실험장치의 구성은 고정단-자유단 경계조건을 가지고 있는 연속보로 단순화할 수 있어서, Richart, Hall and Woods는 공진주 실험 시스템에 대한 파동방정식을 유도하였으나, 시료를 단순히 탄성으로 가정하였고 시료의 점성을 고려하지는 않았다. 그리고, Hardin은 파동방정식의 유도에서 시료의 점탄성을 고려하였으나, 시료의 전단탄성계수를 결정하기 위하여 시료의 점탄성을 가정하여야 하는 문제점을 가지고 있었다. 본 연구에서는 기존의 연구자들이 시도했던 공진주 실험 시스템에 대한 파동방정식을 새로운 측면에서 유도하였으며, 새로이 유도된 파동방정식의 해법을 제안하였다. 한편, 일반적으로 시스템에 대한 동적 거동을 이해하는 방법으로, 시스템의 운동방정식을 이용하는 방법이 있으나, 공진주 실험 시스템에 대한 동적 거동의 해석방법으로 이와 같은 운동방정식을 이용하는 해석방법을 연구한 경우는 거의 없었다. 운동방정식에 의한 해법은 시스템의 동적 증폭계수와 동적 응답에 대한 위상각을 구할수 있기 때문에 파동방정식에 대한 해법보다 더 많은 정보를 활용할 수 있는 장점이 있다. 따라서, 본 연구에서는 공진주 실험 시스템에 대한 보다 기본적이고 많은 정보를 도출하기 위하여, 공진주 실험 시스템에 대한 운동방정식을 유도하였으며, 이를 이용하여 공진주 실험자료를 해석하는 새로운 해석기법의 제안을 위한 근간을 마련하였다. 그리고, 공진주 실험 시스템에 대한 유한요소 해석을 수행하여, 본 연구에서 제안한 공진주 실험시스템의 이론적 모델링의 타당성과 합리성을 검증하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.105-108
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• 2003

The local motion at the top of an A-frame fixed on a research vessel for deep sea ROV floating in irregular waves is studied in the time-domain. The motion is analyzed in the time-domain using the convolution integral of the radiation forces. The memory effect functions and infinite frequency added masses are obtained from the solution of the three dimensional improved Green integral equation in the frequency domain by making use of the Fourier transformation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1-4
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• 1996

It is difficult that a non-translational motion in a block is estimated by the block matching algorithm (BMA). In this paper, a nodal-displacement-based deformation model is used for this reason. This model assumes that a selected number of control nodes move freely in a block and that displacement of any interior point can be interpolated from nodal displacements. As a special case with a single node this model is equivalent to a translational model. And this model can represent more complex deformation using more nodes. We used an iterative gradient based search algorithm to estimate nodal displacement. Each iteration involves the solution of a simple linear equation. This method is called the deformable block matching algorithm (DBMA).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.304-309
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• 1986

This paper is about the Inverse Jacobian for the TOP-1 robot. The robot Jacobian is used for the movement in accordance with differental changes. A Matrix and Homogeneous Transformation Matrix, Differential Motion Vector D are applied to Jacobian equation for the movement of the robot in accordance with the minut changes. The solution of Jacobian equation is acquired and applied for the subtle movement of each arms of the robot. The interface with APPLE-II Micro-computer is searched out too. The Software and the interface resulted from this paper are considered to be higly useful in the accurate control on the robot when they are linked with dynamics of robot.

• Steel and Composite Structures
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• 제26권5호
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• pp.649-662
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• 2018

In this study, based on the three-dimensional theory of elasticity, free vibration characteristics of sandwich sectorial plates with multiwalled carbon nanotube-(MWCNT)-reinforced composite core are considered. Modified Halpin-Tsai equation is used to evaluate the Young's modulus of the MWCNT/epoxy composite samples by the incorporation of an orientation as well as an exponential shape factor in the equation. The exponential shape factor modifies the Halpin-Tsai equation from expressing a straight line to a nonlinear one in the MWCNTs wt% range considered. In this paper, free vibration of thick functionally graded sandwich annular sectorial plates with simply supported radial edges and different circular edge conditions including simply supported-clamped, clamped-clamped, and free-clamped is investigated. A semi-analytical approach composed of two-dimensional differential quadrature method and series solution are adopted to solve the equations of motion. The material properties change continuously through the core thickness of the plate, which can vary according to a power-law, exponentially, or any other formulations in this direction. This study serves as a benchmark for assessing the validity of numerical methods or two-dimensional theories used to analysis of laminated sectorial plates.

• Computers and Concrete
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• 제2권2호
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• pp.125-146
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• 2005

The objective of this paper is setting out, for a cable-stayed bridge with a curtain suspension, a method to determine the modes of vibration of the structure. The system of differential equations governing the vibrations of the bridge, derived by means of a variational formulation in a nonlinear field, is reported in Appendix C. The whole analysis results from the application of Hamilton's principle, using the expressions of potential and kinetic energies and of the virtual work made by viscous damping forces of the various parts of the bridge (Monaco and Fiore 2003). This paper focuses on the equation concerning the transversal motion of the girder of the cable-stayed bridge and in particular on its final form obtained, restrictedly to the linear case, neglecting some quantities affecting the solution in a non-remarkable way. In the hypotheses of normal mode of vibration and of steady-state, we propose the resolution of this equation by a particular method based on a numerical approach. Respecting the boundary conditions, we derive, for each mode of vibration, the corresponding frequency, both natural and damped, the shape-function of the girder axis and the exponential function governing the variability of motion amplitude in time. Finally the results so obtained are compared with those deriving from the dynamic analysis performed by a finite elements calculation program.

• 한국해안해양공학회지
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• 제7권2호
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• pp.156-162
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• 1995

스커트의 유연성을 고려한 2차원 오일붐 모델에 대한 수치해법을 개발하였다. 본 수치모델에서는 부체를 강체로, 스커트를 장력이 걸려 있는 막으로, 스커트의 아래끝엔 집중질량이 놓여 있다고 가정하였다. 유동은 포텐셜이라고 가정하였으며 부체와 스커트의 연결부에서는 변위가 연속이라는 운동학적 조건을 그리고 스커트의 아래끝에는 집중질량에 대한 동력학적인 조건을 부가하였다. 수치해법은 선형포텐셜유동 이론에 근거한 Green 함수방법에 기초를 두고 있다. 스커트의 변형을 미리 알 수 없으므로 방사 포텐셜(radiation potential)과 부체의 변위 그러고 스커트의 변형을 동시에 구하는 방식을 택하였다. Green 정리를 적용하여 얻은 적분방정식과 부체의 운동방정식 그리고 스커트의 변형 관계식을 이산화하여 방사포텐셜과 부체의 변위 그리고 스커트의 변위에 대한 선형대수 방정식을 얻었다. 수치계산결과에 의하면 스커트의 유연성이 부체의 운동응답을 다소 줄일 수 있으며 부체의 공진체계를 바꿀 수 있음을 확인하였다. 그리고 오일붐의 운동응답특성에 영향을 주는 인자들 중에서 스커트의 길이와 집중질량을 파라미터로 하여 오일붐 모델의 운동응답특성을 비교해 보았다. 스커트가 유연한 경우와 스커트가 강체인 경우의 저주파수 극한해는 거의 일치하고 있어 수치해의 타당성을 간접적으로 확인할 수 있었다.

• 대한기계학회논문집B
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• 제28권2호
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• pp.174-180
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• 2004

Failure of tube bundles due to excessive flow-induced vibrations continues to affect the performance of nuclear power plant Early experimental studies concentrated on rigid structures and later investigators dealt with elastic structures because of their importance in many engineering fields. On the other hand, much less numerical work has been carried out, because of the numerical complexity associated with the problem. Conventional approaches usually decoupled the flow solution from the structural problem. The present numerical study proposes the methodology in analyzing the fluidelastic instability occurring in tube bundles by coupling the Computational fluid Dynamics (C%) with the tube equation of motions. The motion of the structures is modeled by a spring-damper-mass system that allows transnational motion in two directions (a two-degree-of-freedom system). The fluid motion and the cylinder response are solved in an iterative way, so that the interaction between the fluid and the structure can be accounted for property. The aim of the present work is to predict the fluidelstic instability of tube bundles and the associated phenomena, such as the response of the cylinder, the unsteady lift and drag on the cylinder, the vortex shedding frequency.

• 대한기계학회논문집A
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• 제26권5호
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• pp.952-959
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• 2002

The natural frequencies of a flexible spinning disk misaligned with the axis of rotation are studied in an analytic manner. The effects of misalignment on the natural frequency need to be investigated, because the misalignment between the axis of symmetry and the axis of relation cannot be avoided in the removable disks such as CD-R, CD-RW or DVD disks. Assuming that the in -plane displacements are in steady state and the out-of-plane displacement is in dynamic state, the equations of motion are derived for the misaligned spinning disk. After the exact solutions are obtained fur the steady -state in-plane displacements, they are plugged into the equation for the dynamic-state out-of-plane motion. The resultant equation is a linear equation for the out -of-plane displacement, which is discretized by the Galerkin method. Based on the discretized dquations, the effects of the misalignment are analyzed on the vibration characteristics of the spinning disk, i.e., the natural frequencies and the critical speed.