• 한국철도학회:학술대회논문집
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• 한국철도학회 1998년도 추계학술대회 논문집
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• pp.437-444
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• 1998

In this paper, an efficient and accurate formulation for the transient analysis of constrained multibody systems is presented. The formulation employs Kane's method along with the null space method. Kane's method reduces the dimension of equations of motion by using partial velocity matrix: it can improve the efficiency of the formulation. Furthermore, the formulation partitions the coefficient matrix of linear and nonlinear equations into several sub-matrices using kinematic uncoupling. This can solve the equations more efficiently. The proposed formulation can be used to perform dynamic analysis of systems which can he partitioned into several sub-systems such as train systems. One numerical example is given to demonstrate the efficiency and accuracy of the formulation, and another numerical example is given to show its application to the train systems.

• 한국생산제조학회지
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• 제7권1호
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• pp.82-88
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• 1998

It is very important to test linear cycle positioning accuracy of NC lathes as it affect all other machines machined by them in industries. For example, if the linear positioning accuracy of x or z-axis directions is bad, the size of works will be wrong and the change-ability will be bad in the assembly of machine parts. In this paper , measuring systems are organized to measure linear displacement of ATC(Automatic tool changer) of NC lathe using laser interferometer, magnescale and tick pulses coming out from computer in order to get data at constant time intervals from the sensors, And each set of data gotten from test is expressed to a plots by computer treatment and the results of linear positioning error motion is estimated to numerics by statistical treatments.

• 한국안전학회지
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• 제27권2호
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• pp.57-64
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• 2012

For the vibration control of earthquake-excited buildings, an optimal design method of integrated control system considering soil-structure interaction is studied in this paper. Interaction between soils and the base of the building is simply modeled as lumped parameters and equations of motion are derived. The equations of motion are transformed into the state space equations and the probabilistic excitations such as Kanai-Tajumi power spectral density function is introduced. Then an optimization problem is formulated as finding hybrid or integrated control systems which minimizes the stochastic responses of the building structure for given constraints. In order to investigate the feasibility of the optimization method, an example design and numerical simulations are performed with tenstory building. Finally, numerical results are compared with a conventional design case that soil-structure interaction is not considered.

• Structural Engineering and Mechanics
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• 제37권4호
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• pp.367-383
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• 2011

In this paper, nonlinear partial differential equations of motion for a hybrid composite plate subjected to initial stresses on elastic foundations are established to investigate its nonlinear vibration behavior. Pasternak foundation and Winkler foundations are used to represent the plate-foundation interaction. The initial stress is taken to be a combination of pure bending stress plus an extensional stress in the example problems. The governing equations of motion are reduced to the time-dependent ordinary differential equations by the Galerkin's method. Then, the Runge-Kutta method is used to evaluate the nonlinear vibration frequency and frequency ratio of hybrid composite plates. The nonlinear vibration behavior is affected by foundation stiffness, initial stress, vibration amplitude and the thickness ratio of layer. The effects of various parameters on the nonlinear vibration of hybrid laminated plate are investigated and discussed.

• 한국정밀공학회지
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• 제22권1호
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• pp.160-166
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• 2005

In this paper, the combined system equation of motion, which can analyze the dynamic interaction between pantograph and catenary system, is derived by adopting absolute nodal coordinates and rigid body coordinates. The analysis results are compared with real experiment data from test running of Korean high-speed train (HSR 350x). In addition, a computation method for the dynamic stress of contact wire is presented using the derived system equation of motion. This method might be good example and significant in that the structural and multibody dynamics model can be unified into one numerical system.

• 소음진동
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• 제5권3호
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• pp.327-335
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• 1995

The study deals with the vibration of a beam whose flexural and centroidal axes are not coincident. The elementary bending-twisting theory is employed to derive the equation of motion, in which the effects of rotary inertia are added to the bending displacements and the effects of warping are added to the twist. Bending translation is restricted to one direction so that one bending equation is used instead of two. The equations of motion are solved by using the boundary value problem. The exact natural frequencies are fund from the frequency equation, which is obtained from the condition that the homogeneous system of algebraic equations representing the spatial solution shall not yield a trivial solution. The orthogonal conditions are established, and the principal mode equations of forced vibration are derived. As an example, the cantilevered beam is chosen and the first some natural frequencies and their modal shapes are found.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.440-445
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• 1994

An application of H$_{\infty}$ synthesis to contact control of a manipulator is suggested. Based on computed torque linearization of a manipulator, a target dynamics for contact motion control is defined and used as a reference model. The target dynamics relates position and force errors through free motion impedance and force error compensators. The H$_{\infty}$ control synthesis is adopted to find an optimum the compensator for position tied force control in various directions of the end-effector. The optimization is performed on the augmented criteria, which trades off the sensitivity function of the errors and the input load at the joints. A design example of the compensator is provided that meets the design specifications.s.

• 대한전기학회논문지
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• 제37권8호
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• pp.563-569
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• 1988

본 논문에서는 공통의 작업장에서 운용되는 두 개의 매니퓰레이터의 충돌회피를 위한 속도변형 방법들이 연구된다. 두 매니퓰레이터의 상호충돌시 현저한 특성으로 인한 여러 종류의 새로운 충돌양상이 연구되며 무충돌 운용을 계획하는데 사용된다. 충돌지도와 속도변형의 개념들이 무충돌 운용을 계{획하기 위해 개발 적용된다. 한가지 예가 궤적의 속도 가감을 보이기 위해 예시도었으며, 이 예는 움직이는 두 로보트 매니퓰레이터의 무충돌 궤도 계획을 위한 제안된 방법들의 유용성을 보여준다.

• 대한기계학회논문집A
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• 제26권12호
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• pp.2527-2534
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• 2002

An efficient method is proposed for the design of six-bar function generators with complex design tasks. Especially, the desired functions are defined for the entire motion ranges of the input variables. The design problem is defined as a nonlinear optimization problem. A concept of a weighted structural error is introduced for the definition of the objective function. Also simple branch identifiers are incorporated to eliminate the branch problems commonly encountered in a typical linkage synthesis problem. Two example problems of designing a Watt-II type double dwell mechanism and a Stephenson-III type double beat-up mechanism are demonstrated with numerical results. Constraints such as on the Grashof conditions and on the transmission angles are included for practical solutions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.