• 한국해양학회지:바다
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• 제13권3호
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• pp.237-245
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• 2008

우리는 해저 연약지반 주행차량과 주행차량의 상부에 결합되어 있는 유연관의 연성거동 동력학 해석 기법을 개발하였다. 연약지반 주행차량은 1개의 강체로 모델링되었으며, 질량집중매개변수 기법을 이용한 이산화기법을 적용하여 유연관을 모델링하였다. 강체 무한궤도 주행차량의 운동방정식과 유연관의 3차원 비선형 지배방정식을 결합시켰으며, 4개의 오일러 매개변수를 이용하여 주행차량과 유연관의 자세를 표현하였다. 주행차량과 유연관의 비선형 연성거동 동력학 방정식의 해를 구하기 위해, 증분-반복법을 이용하였다. 시간영역 수치적분을 위해 $Newmark-\beta$기법을 이용하였다. 증분-반복법을 적용하여 연성 운동방정식에 대한 자코비안 행렬을 유도하였다. 동적거동 동력학 해석 기법을 통해 유연관의 동적거동과 연약지반 위를 주행하는 무한궤도 차량의 동적거동 사이의 상호작용을 시간영역에서의 관찰하였다.

• 한국강구조학회 논문집
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• 제17권6호통권79호
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• pp.699-705
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• 2005

이 논문은 자유단에 집중질량을 갖고 종동력이 작용하는 변단면 캔틸레버 기둥의 임계하중에 관한 연구이다. 기둥의 단면을 중실 직사각형 단면을 갖는 선형 변단면으로 채택하고, Bernoulli-Euler 보 이론에 의한 자유단 집중질량을 갖고 종동력을 받는 소위 Beck 기둥의 자유진동을 지배하는 미분방정식을 유도하였다. 이 미분방정식을 수치해석하여 하중-고유진동수 곡선을 얻고 이로부터 발산임계하중 및 동요임계하중을 산출하였다. 수치해석의 결과로부터 변단면 형태, 경사변수 및 질량비가 임계하중에 미치는 영향을 고찰하였다.

• Steel and Composite Structures
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• 제39권5호
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• pp.543-564
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• 2021

In this study free vibration analysis of a cracked Goland composite wing is investigated. The wing is modelled as a cantilevered beam based on Euler- Bernoulli equations. Also, composite material is modelled based on lamina fiber-reinforced. Edge crack is modelled by additional boundary conditions and local flexibility matrix in crack location, Castigliano's theorem and energy release rate formulation. Governing differential equations are extracted by Hamilton's principle. Using the separation of variables method, general solution in the normalized form for bending and torsion deflection is achieved then expressions for the cross-sectional rotation, the bending moment, the shear force and the torsional moment for the cantilevered beam are obtained. The cracked beam is modelled by separation of beam into two interconnected intact beams. Free vibration analysis of the beam is performed by applying boundary conditions at the fixed end, the free end, continuity conditions in the crack location of the beam and dynamic stiffness matrix determinant. Also, the effects of various parameters such as length and location of crack and fiber angle on natural frequencies and mode shapes are studied. Modal analysis results illustrate that natural frequencies and mode shapes are affected by depth and location of edge crack and coupling parameter.

• Computers and Concrete
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• 제27권2호
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• pp.85-97
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• 2021

In this study, the effect of steel fiber utilization, boundary conditions, different beam cross-section, and length parameter are investigated on the free vibration behavior of fiber reinforced self-compacting concrete beam on elastic foundation. In the analysis of the beam model recommended by Euler-Bernoulli, a method utilizing Stokes transformations and Fourier Sine series were used. For this purpose, in addition to the control beam containing no fiber, three SCC beam elements were prepared by utilization of steel fiber as 0.6% by volume. The time-dependent fresh properties and some mechanical properties of self-compacting concrete mixtures were investigated. In the modelled beam, four different beam specimens produced with 0.6% by volume of steel fiber reinforced and pure (containing no fiber) SCC were analyzed depending on different boundary conditions, different beam cross-sections, and lengths. For this aim, the effect of elasticity of the foundation, cross-sectional dimensions, beam length, boundary conditions, and steel fiber on natural frequency and frequency parameters were investigated. As a result, it was observed that there is a noticeable effect of fiber reinforcement on the dynamic behavior of the modelled beam.

• Advances in nano research
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• 제6권3호
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• pp.219-242
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• 2018

In this study, static bending of an edge cracked cantilever nanobeam composed of functionally graded material (FGM) subjected to transversal point load at the free end of the beam is investigated based on modified couple stress theory. Material properties of the beam change in the height direction according to exponential distributions. The cracked nanobeam is modelled using a proper modification of the classical cracked-beam theory consisting of two sub-nanobeams connected through a massless elastic rotational spring. The inclusion of an additional material parameter enables the new beam model to capture the size effect. The new non-classical beam model reduces to the classical beam model when the length scale parameter is set to zero. The considered problem is investigated within the Euler-Bernoulli beam theory by using finite element method. In order to establish the accuracy of the present formulation and results, the deflections are obtained, and compared with the published results available in the literature. Good agreement is observed. In the numerical study, the static deflections of the edge cracked FGM nanobeams are calculated and discussed for different crack positions, different lengths of the beam, different length scale parameter, different crack depths, and different material distributions. Also, the difference between the classical beam theory and modified couple stress theory is investigated for static bending of edge cracked FGM nanobeams. It is believed that the tabulated results will be a reference with which other researchers can compare their results.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.832-835
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• 2005

본 연구는 지반에 근입된 변단면 말뚝의 자유진동에 관한 연구이다. 이 논문에서는 말뚝이 근입된 지반을 Winkler형으로 이상화하여 변단면 말뚝의 자유진동을 지배하는 상미분방정식을 무차원형으로 표현하였으며, 이를 수치해석하여 대상구조의 고유진동수를 산출하였다. 수치해석 예에서는 상단이 자유, 하단이 회전지점과 회전스프링으로 이루어진 말뚝을 대상으로 회전스프링상수, 근입비, 지반계수, 접촉면의 폭비에 따른 고유진동수를 산출하고 그 결과를 고찰하였다.

• Structural Engineering and Mechanics
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• 제37권5호
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• pp.489-507
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• 2011

The dynamic response of a Timoshenko beam on a tensionless Pasternak foundation is investigated by assuming that the beam is subjected to a concentrated harmonic load at its middle. This action results in the creation of lift-off regions between the beam and the foundation that effect the character of the response. Although small displacements for the beam and the foundation are assumed, the problem becomes nonlinear since the contact/lift-off regions are not known at the outset. The governing equations of the beam, which are coupled in deflection and rotation, are obtained in both the contact and lift-off regions. After removing the coupling, the essentials of the problem (the contact regions) are determined by using an analytical-numerical method. The results are presented in figures to demonstrate the effects of some parameters on the extent of the contact lengths and displacements. The results are also compared with those of Bernoulli-Euler, shear, and Rayleigh beams. It is observed that the solution is not unique; for a fixed value of the frequency parameter, more than one solution (contact length) exists. The contact length of the beam increases with the increase of the frequency and rotary-inertia parameters, whereas it decreases with increasing shear foundation parameter.

• Structural Engineering and Mechanics
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• 제61권2호
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• pp.209-220
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• 2017

The purpose of this paper is to study the geometrically nonlinear free vibration of functionally graded nano/micro beams (FGNBs) based on the modified couple stress theory. For practical applications, some analytical expressions of nonlinear frequencies for FGNBs on a nonlinear Pasternak foundation are developed. Hamilton's principle is employed to obtain nonlinear governing differential equations in the context of both Euler-Bernoulli and Timoshenko beam theories for a comprehensive investigation. The modified continuum theory contains one material length scale parameter to capture the size effect. The variation of two-constituent material along the thickness is modeled using Reddy's power-law. Also, the Mori-Tanaka method as an accurate homogenization technique is implemented to estimate the effective material properties of the FGNBs. The results are presented for both hinged-hinged and clamped-clamped boundary conditions. The nonlinear partial differential equations are reduced to ordinary differential equations using Galerkin method and then the powerful method of homotopy analysis is utilized to obtain the semi-analytical solutions. Eventually, the presented analytical expressions are used to examine the influences of the length scale parameter, material gradient index, and elastic foundation on the nonlinear free vibration of FGNBs.

• Structural Engineering and Mechanics
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• 제66권6호
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• pp.737-748
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• 2018

The current study presents a new technique in the framework of the nonlocal elasticity theory for a comprehensive buckling analysis of Euler-Bernoulli nano-beams made up of bidirectional functionally graded material (BDFGM). The mechanical properties are considered by exponential and arbitrary variations for axial and transverse directions, respectively. The various circumstances including tapering, resting on two-parameter elastic foundation, step-wise or continuous variations of axial loading, various shapes of sections with various distribution laws of mechanical properties and various boundary conditions like the multi-span beams are taken into account. As far as we know, for the first time in the current work, the buckling analyses of BDFGM nano-beams are carried out under mentioned circumstances. The critical buckling loads and mode shapes are calculated by using energy method and a new technique based on calculus of variations and collocation method. Fast convergence and excellent agreement with the known data in literature, wherever possible, presents the efficiency of proposed technique. The effects of boundary conditions, material and taper constants, foundation moduli, variable axial compression and small-scale of nano-beam on the buckling loads and mode shapes are investigated. Moreover the analytical solutions, for the simpler cases are provided in appendices.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.