• 한국전자통신학회논문지
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• 제5권5호
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• pp.541-546
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• 2010

유연한 로봇팔은 모터에 의해 관절 축을 회전할 때 진동이 발생한다. 유연한 팔이 원하는 각으로 회전하면서 동시에 팔 끝의 진동이 안정화되도록 제어하였다. 본 논문에서 유연한 로봇팔의 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, 섹터 내부에 연속입력함수를 가진 슬라이딩 섹터이론을 이용하여 히스테리시스 사구간을 가진 비선형 제어기를 제안한다.

• Structural Engineering and Mechanics
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• 제61권6호
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• pp.765-773
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• 2017

The quadratic B-spline finite element method yields mass and stiffness matrices which are half the size of matrices obtained by the conventional finite element method. We solve the free vibration problem of a rotating Rayleigh beam using the quadratic B-spline finite element method. Rayleigh beam theory includes the rotary inertia effects in addition to the Euler-Bernoulli theory assumptions and presents a good mathematical model for rotating beams. Galerkin's approach is used to obtain the weak form which yields a system of symmetric matrices. Results obtained for the natural frequencies at different rotating speeds show an accurate match with the published results. A comparison with Euler-Bernoulli beam is done to decipher the variations in higher modes of the Rayleigh beam due to the slenderness ratio. The results are obtained for different values of non-uniform parameter ($\bar{n}$).

• 전산구조공학
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• 제10권4호
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• pp.177-184
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• 1997

이 논문은 한개의 집중하중을 받는 단순지지 변화곡선길이 보에 관한 연구이다. Bernoulli-Euler 보 이론에 의하여 정확탄성곡선을 지배하는 미분방정식을 유도하고 이를 수치해석하여 정확탄성곡선의 거동값들을 예측하였다. 미분방정식을 적분하기 위하여 Runge-Kutta method를 이용하고, 단부의 회전각을 산출하기 위하여 Regula-Falsi method를 이용하였다. 본 연구에서의 수치해석 결과들은 문헌값들과 매우 잘 일치하여 본 연구방법의 타당성을 입증하였다. 수치해석의 결과로 정확탄성곡선의 거동값과 하중사이의 관계 및 한계거동값과 하중위치변수 사이의 관계를 각각 그림에 나타내었다. 수치해석의 결과를 분석하여 변화곡선길이 보에서 발생가능한 최대 단부회전각, 최대 처짐 및 최대 휨모멘트를 산정하였다.

• Geomechanics and Engineering
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• 제33권4호
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• pp.381-391
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• 2023

The aim of this work is to analyze and predict the wave propagation behavior of the carbon nanotube reinforced composites (CNTRC) beams within the framework of various higher order shear deformation beam theory. Using the Euler-Lagrange principle, the wave equations for CNTRC beams are derived, where the determining factor is to make the determinant equal to zero. Based on the eigenvalue method, the relationship between wave number and circular frequency is obtained. Furthermore, the phase and group velocities during wave propagation are obtained as a function of wave number, and the material properties of CNTRC beams are estimated by the mixture rule. In this paper, various higher order shear beam theory including Euler beam theory, Timoshenko beam theory and other beam theories are mainly adopted to analyze the wave propagation problem of the CNTRC beams, and by this way, we conduct a comparative analysis to verify the correctness of this paper. The mathematical model provided in this paper is verified numerically by comparing it with some existing results. We further investigate the effects of different enhancement modes of CNTs, volume fraction of CNTs, spring factor and other aspects on the wave propagation behaviors of the CNTRC beams.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.396-400
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• 2006

We studied the influences of open cracks in free vibrating beam with rectangular section using a numerical model. The crack was assumed to be single and always open during the free vibration and equivalent bending stiffness of a cracked beam was calculated based on the strain energy balance. By Galerkin's method, the frequencies of cantilever beam could he obtained with respect to various crack depths and locations. Also, the experiments on the cracked beams were carried out to find natural frequencies. The cracks were initiated at five locations and the crack depths were increased by five steps at each location. The experimental results were compared with the numerical results and the comparison results were discussed.

• Structural Engineering and Mechanics
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• 제47권3호
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• pp.307-329
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• 2013

The bending problem of Euler-Bernoulli discontinuous beams is dealt with, in which the discontinuities are due to the loads and eventually to essential constrains applied along the beam axis. In particular, the loads are modelled as random delta-correlated processes acting along the beam axis, while the ulterior eventual discontinuities are produced by the presence of external rollers applied along the beam axis. This kind of structural model can be considered in the static study of bridge beams. In the present work the exact expression of the response quantities are given in terms of means and variances, thanks to the use of the stochastic analysis rules and to the use of the generalized functions. The knowledge of the means and the variances of the internal forces implies the possibility of applying the reliability ${\beta}$-method for verifying the beam.

• 대한토목학회논문집
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• 제6권1호
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• pp.61-68
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• 1986

본(本) 연구(硏究)에서는 포텐셜에너지 이론(理論)을 바탕으로 탄성정력학적(彈性靜力學的) 문제(問題)에 대한 재차 Euler 방정식(方程式)을 완벽히 만족(滿足)하는 새로운 형태(形態)의 형상함수(形狀函數)를 제안(提案)하였다. Shear locking 현상(現像)을 피하기 위한 함차적분(咸差積分)이 필요(必要)없는 이 형상함수(形狀函數)를 사용(使用)한 보 유한요소(有限要素)를 Galerkin 가중잔차법(加重殘差法)으로 유도(誘導)하여 보의 자유진동(自由振動)과 정력학적(靜力學的) 문제(問題)를 해석(解析)하여 이 형상함수(形狀函數)의 효율성(効率性)과 정확도(正確度)를 고찰(考察)하였다. 본(本) 연구(硏究)에서 제안(提案)된 형상함수(形狀函數)를 이용(利用)한 유한요소해(有限要素解)는 보의 靜的解析의 경우 정확해(正確解)와 완벽히 일치(一致)하였으며 자유진동해석(自由振動解析)의 경우에도 월등(越等)한 정확도(正確度)를 보여주었다. 따라서 본(本) 연구(硏究)에서 제안(提案)된 형상함수(形狀函數)의 개념(槪念)은 모든 탄성정력학적(彈性靜力學的) 문제(問題) 유한요소해(有限要素解)를 구하는데 적용(適用)될 수 있다고 사료된다.

• Structural Engineering and Mechanics
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• 제59권6호
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• pp.1139-1153
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• 2016

Elastic constraints are usually simplified as "spring forces" exerted on beam ends without considering the "spring deformation". The partial differential equation governing the free vibrations of a cantilever Bernoulli-Euler beam considering the deformation of elastic constraints is firstly established, and is nondimensionalized to obtain two dimensionless factors, $k_v$ and $k_r$, describing the effects of elastically vertical and rotational end constraints, respectively. Then the frequency equation for the above Bernoulli-Euler beam model is derived using the method of separation of variables. A numerical analysis method is proposed to solve the transcendental frequency equation for the continuous change of the frequency with $k_v$ and $k_r$. Then the mode shape functions are given. Finally, effects of $k_v$ and $k_r$ on free vibration characteristics of the beam with different slenderness ratios are calculated and analyzed. The results indicate that the effects of $k_v$ are larger on higher-order free vibration characteristics than on lower-order ones, and the impact strength decreases with slenderness ratio. Under a relatively larger slenderness ratio, the effects of $k_v$ can be neglected for the fundamental frequency characteristics, while cannot for higher-order ones. However, the effects of $k_r$ are large on both higher- and lower-order free vibration characteristics, and cannot be neglected no matter the slenderness ratio is large or small.

• 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.

• 한국생산제조학회지
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• 제23권3호
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• pp.223-229
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• 2014

In this paper, the natural frequency and damping ratio are analyzed with the acceleration signal of an Euler-Bernoulli beam using the impact hammer test. The results are presented according to crack depth and position using the recursive least squares method. The results are compared and investigated with FEM analysis of CATIA. Both methods agree well with each other regarding the natural mode characteristics. The captured acceleration can be used for the calculation of the natural frequency and damping ratio using time series methods that are based on the measured acceleration. Using these data, a recursive time series model with the acceleration signal was configured and the behaviors of the natural frequency and damping ratio were investigated and analyzed. Finally, the results can be used for the prediction of crack position and depth under different crack conditions for an Euler-Bernoulli beam.