• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• 대한기계학회논문집B
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• 제25권6호
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• pp.829-836
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• 2001

A dependable boundary reconstruction technique is proposed. The finite element method is used for the analysis of the direct heat conduction problem to realize the deformable grid system. An appropriate strategy for grid update is suggested. A complete sensitivity analysis is performed to obtain the derivatives required for restoration of the optimal boundary. With the result of the sensitivity analysis, the unknown boundary is sought using the sequential quadratic programming. The method is applied to reconstruction of boundaries with sinusoidal, step, and cavity form. The overall performance of the proposed method is examined by comparison between the estimated the exact boundaries.

• Structural Engineering and Mechanics
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• 제72권2호
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• pp.217-227
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• 2019

The methodology known as "shape sensing" allows the reconstruction of the displacement field of a structure starting from strain measurements, with considerable implications for structural monitoring, as well as for the control and implementation of smart structures. An approach to shape sensing is based on the inverse Finite Element Method (iFEM) that uses a variational principle enforcing a least-squares compatibility between measured and analytical strain measures. The structural response is reconstructed without the knowledge of the mechanical properties and load conditions but based only on the relationship between displacements and strains. In order to efficiently apply iFEM to the most common structural typologies of civil engineering, its formulation according to the kinematical assumptions of the Bernoulli-Euler theory is presented. Two beam inverse finite elements are formulated for different loading conditions. Depending on the type of element, the relationship between the minimum number of required measurement stations and the interpolation order is defined. Several examples representing common applications of civil engineering and involving beams and frames are presented. To simulate the experimental strain data at the station points and to verify the accuracy of the displacements obtained with the iFEM shape sensing procedure, a direct FEM analysis of the considered structures is performed using the LUSAS software.

• 한국전산구조공학회논문집
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• 제34권1호
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• pp.35-42
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• 2021

이 논문에서는 공용중인 구조물의 상시 계측 자료를 사용한 온라인 유한요소 모델 업데이트 방법을 제안한다. 일반적인 최적화 방법에 기반한 기존의 방법은 최적해를 찾기까지 반복적으로 고유치 해석을 수행해야 하므로 상시 업데이트에 사용하기에는 효과적이지 못하다. 제안하는 방법은 별도의 오프라인 작업이나 사용자의 개입이 없이 자동화된 과정으로 계측과 동시에 온라인 유한요소모델 업데이트를 수행할 수 있는 새로운 방법이다. 자동화된 Cov-SSI 알고리즘을 통해 구조물의 진동 계측 신호로부터 고유진동수 및 모드 형상을 식별하고, 이를 다시 역 고유치 신경망에 입력하여 최종적으로 업데이트된 유한요소 모델의 파라미터를 추정한다. 풍하중을 받는 20층 전단 빌딩 구조 모형에 대한 수치예제를 통해 제시한 방법이 자동으로 연속적인 유한요소모델 업데이트를 할 수 있었음을 확인하였다. 또한, 계측 도중 구조물의 특성이 변화하는 시나리오에 대한 예제에서 구조물의 변화가 일어나는 시점과 변화 후 변동된 구조 모델 파라미터 값을 성공적으로 추정할 수 있음을 확인하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.3-10
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• 2002

This study proposed a technique for inverse problem, linear approximation of contact position and loading in single and double meshing of spur gear, using 2-dimension model considered near the tooth by root stress. Determine root stress is carried out for the gear tooth by finite element method and boundary element method. Boundary element discretization near contact point is carefully performed to keep high computational accuracy. And from those estimated results, the comparing estimate value with boundary element method value was discussed.

• The Journal of the Acoustical Society of Korea
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• 제22권1E호
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• pp.11-18
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• 2003

Non-singular boundary element method (BEM) codes are developed in acoustics application. The BEM code is then used to calculate unknown boundary surface normal displacements and surface pressures from known exterior near field pressures. And then the calculated surface normal displacements and surface pressures are again applied to the BEM in forward in order to calculate reconstructed field pressures. The initial exterior near field pressures are very well agreed with the later reconstructed field pressures. Only the same number of boundary surface nodes (1178) are used for the initial exterior pressures which are at first calculated by Finite Element Method (FEM) and BEM. Pseudo-inverse technique is, used for the calculation of the unknown boundary surface normal displacements. The structural object is a tuning fork with 128.4 ㎐ resonant. The boundary element is a quadratic hexahedral element (eight nodes per element).

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.306-311
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• 2002

Non-singular boundary element method (BEM) codes are developed in acoustics application. The BEM code is then used to calculate unknown boundary surface normal displacements and surface pressures from known exterior near Held pressures. And then the calculated surface normal displacements and surface pressures are again applied to the BEM in forward in order to calculate reconstructed field pressures. The initial exterior near field pressures are very well agreed with the later reconstructed field pressures. Only the same number of boundary surface nodes (1178) are used far the initial exterior pressures which are initially calculated by Finite Element Method (FEM) and BEM. Pseudo-inverse technique is used for the calculation of the unknown boundary surface normal displacements. The structural object is a tuning fork with 128.4 Hz resonant. The boundary element is a quadratic hexahedral element (eight nodes per element).

• 전산구조공학
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• 제22권2호
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• pp.48-53
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• 2009

• Architectural research
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• 제9권1호
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• pp.39-45
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• 2007

The static behavior of continuous system is described by the elastic curve method or is approximately analyzed by a finite element method to be modeled as a discrete system. If a continuous system is constrained by linear constraints which restrict its static behavior, its behavior can be approximately described by the finite element method. It is not easy to describe the constrained behavior by continuous coordinate system. Starting from the generalized inverse method provided by Eun, Lee and Chung, this study is to expand the equation to the continuous systems, to perform the structural analysis of the beam under a uniform loading with interior spring supports, and to investigate the validity of the proposed method through applications.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.863-869
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• 2007

An improved method based on a normal frequency response function (FRF) is proposed to identify structural parameters such as mass, stiffness and damping matrices directly from the FRFs of a linear mechanical system. The method for estimating structural parameters directly from the measured FRFs of a structure is presented. This paper demonstrates that the characteristic matrices are extracted more accurately by using a weighted equation and eliminating the matrix inverse operation. The method is verified for a four degree-of-freedom lumped parameter system and an eight degree-of-freedom finite element beam. Experimental verification is also performed for a free-free steel beam whose size and physical properties are the same as those of the finite element beam. The results show that the structural parameters, especially the damping matrix, can be estimated more accurately by the proposed method.