• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.697-702
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• 2006

This paper deals with the free vibrations of immersed columns with soft base. The support condition of the column is represented by using a translational spring and a rotational spring. The eccentricity and rotatory inertia of the concentrated mass at the top are taken into account. In the governing equation for the free vibration of column, the density of immersed part was modified to account for the added fluid mass. The governing differential equations are solved numerically using the corresponding boundary conditions. Numerical results are presented to show the effects on the natural frequencies of non-dimensional system parameters: the mass density ratio of fluid to column, the ratio of fluid depth to span length, the ratio of tip mass to total column mass, the dimensionless mass moment of inertia, the eccentricity, the translation spring parameter, and the rotational spring parameter.

• Proceedings of the KSR Conference
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• 2001.10a
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• pp.147-155
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• 2001

A data acquisition and signal processing system for evaluating the current collection system is developed, and subsequently applied to the measurement and analysis of the contact force in the current collection system of the proposed Korean High Speed Railway. The measurement of the contact force is based on an algorithm that employs the relationship between the contact force, the strain due to the bending moment and the panhead inertia. For the contact forces in the frequency range of less that 50Hz, the panhead can the modeled as a rigid body in the inertia calculation. For higher frequencies however, the bending vibration modes of the panhead need to be accounted for as well.

• Geomechanics and Engineering
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• v.8 no.2
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• pp.257-282
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• 2015

In this study, the authors present a coupled fluid-structures-seabed interaction analysis of a monopile type of wind turbine foundations in liquefiable soils. A two dimensional analysis is performed with a nonlinear stiffness degradation model incorporated in the finite difference program Fast Lagrangian Analysis of Continua (FLAC), which captured the fundamental mechanisms of the monopiles in saturated granular soil. The effects of inertia and the kinematic flow of soil are investigated separately, to highlight the importance of considering the combined effect of these phenomena on the seismic design of offshore monopiles. Different seismic loads, such as those experienced in the Kobe, Santa Cruz, Loma Prieta, Kocaeli, and Morgan Hill earthquakes, are analyzed. The pore water pressure development, relative displacements, soil skeleton deformation and monopile bending moment are obtained for different predominant frequencies and peak accelerations. The findings are verified with results in the liter.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.1-7
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• 2006

The Primary type of swinging motion in human movement is that which is characteristic of a pendulum. The two types of pendulums are identified as simple and compound. A simple pendulum consist of a small body suspended by a relatively long cord. Its total mass is contained within the bob. The cord is not considered to have mass. A compound pendulum, on the other hand, is any pendulum such as the human body swinging by hands from a horizontal bar. Therefore a compound pendulum depicts important motions that are harmonic, periodic, and oscillatory. In this paper one discusses and compares two algorithms of Newton's method(F = m a) and Euler's method (M = $I{\times}{\alpha}$) in compound pendulum. Through exercise model such as human body with weight(m = 50 kg), body length(L = 1.5m), and center of gravity ($L_c$ = 0.4119L) from proximal end swinging by hands from a horizontal bar, one finds kinematic variables(angle displacement / velocity / acceleration), and simulates kinematic variables by changing body lengths and body mass. BSP by Clauser et al.(1969) & Chandler et al.(1975) is used to find moment of inertia of the compound pendulum. The radius of gyration about center of gravity (CoG) is $k_c\;=\;K_c{\times}L$ (단, k= radius of gyration, K= radius of gyration /segment length), and then moment of inertia about center of gravity(CoG) becomes $I_c\;=\;m\;k_c^2$. Finally, moment of inertia about Z-axis by parallel theorem becomes $I_o\;=\;I_c\;+\;m\;k^2$. The two-order ordinary differential equations of models are solved by ND function of numeric analysis method in Mathematica5.1. The results are as follows; First, The complexity of Newton's method is much more complex than that of Euler's method Second, one could be find kinematic variables according to changing body lengths(L = 1.3 / 1.7 m) and periods are increased by body length increment(L = 1.3 / 1.5 / 1.7 m). Third, one could be find that periods are not changing by means of changing mass(m = 50 / 55 / 60 kg). Conclusively, one is intended to meditate the possibility of applying a compound pendulum to sports(balling, golf, gymnastics and so on) necessary swinging motions. Further improvements to the study could be to apply Euler's method to real motions and one would be able to develop the simulator.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.285-288
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• 2008

A model for the effective moment of inertia $I_{\epsilon}$ as expressed in Branson's equation, in which reduction of the flexural rigidity of RC beams due to cracking are aptly taken into accoun,t is presented. However, KCI Code isn`t considered tension stiffening as it is in debonding of reinforcing bar. Therefore, this equation need to set up suitable to our design Code. The experimental work consisted of casting and testing a total of 6 simply supported reinforced concrete beams and a total of 4 continuos reinforced concrete beams under two point concentrated loads. Main parameters are concrete strength, coverage, bond between concrete and reinforcing bars, are known as have an effect on deflection and tension stiffening. Every test beams had the same $250{\times}350$mm rectangular section, with a simply supported clear span of 4,400 mm and a continuos clear span of 6,500 mm. Comparison of the test results with values obtained using the KCI Code equation of the effective moment of inertia showed a noticeable difference.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.52-59
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• 2008

The objective of this study is to develop an automatic object changer unit to improve processing problems existed in the conventional horizontal machining center. To achieve this goal, this study designed a horizontal transfer as the second project continued to the first project that designed a upward and downward traverse unit. A horizontal traverse unit shows a symmetric structure and consists of frame, which consists of four unit tools, motor and reducer, which are fixed at a frame, operation unit with pinions, first traverse unit, and second traverse unit. Constraint conditions based on the operation mechanism with these elements were configured and obtained following results after modeling a model for a traverse motor. In the kinematic expression of sliding motion with one degree of freedom, the sliding motion is constrained. Also, the rack 3 installed at a frame is used to configure possible kinematic constraint conditions of the rack 2 according to the rolling motion of the pinion 2 in the first traverse unit. In addition, the moment of inertia that is a type of kinetic energy in a converted horizontal traverse unit in the side of the reducer can be applied to introduce the moment of inertia of a converted horizontal traverse unit in the side of the reducer by using the sum of kinetic energy in the rack and pinion, which is a part of the horizontal traverse unit. Also, the equation of motion of the converted upward and downward traverse unit in the side of the motor using the equation of motion of the motor. Furthermore, the horizontal traverse unit predetermines the mass of the first and second traverse unit and applied load including the radius and reduction ratio of the pitch circle in the pinion 1 and applied load to the rack 2. Then, a proper motor can be determined using several parameters in the upward and downward traverse unit in order to verify such predetermined specifications. In future studies later this study, a simulation that verifies the results of the previous two stages of studies using a finite element method.

• Proceedings of the Korea Concrete Institute Conference
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• 2002.10a
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• pp.397-400
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• 2002

The mechanical properties of concrete such as modulus of elasticity, bond strength and shear strength are proportional to square root of compressive strength. And compressive strength of concrete is developed rapidly at early ages. Thus the relationship between compressive strength and its mechanical properties should be verified because the mechanical properties of early age concrete and hardened concrete are different. In this study, to predict the concrete slab deflection at early ages, modulus of elasticity and effective moment of inertia(Ie) are observed and compared with experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.337-341
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• 1995

This paper presents a robust control scheme using a multilayer network for the robot manipulator operating under the sea which has large uncertainties such as the buoyancy and the added mass/moment of inertia. The multilayer neural network acts as a compensator of the conventional sliding mode controller to maintain the control performance when the initial assumptions of uncertainty bounds are not valid. By the computer simulation results, the proposed control scheme dose not effectively compensate large uncertainties, but also reduces the steady stare error of the conventional sliding mode controller.

• Journal of KSNVE
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• v.1 no.1
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• pp.39-43
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• 1991

In this study, the design concept of engine for 4WD vehicle is established by the experimental modal analysis. First, the relationships between frame and power transmission system are considered. Second, the effect of additional system (Front propeller shaft and Exhaust system) on the power transmission system is evaluated. As a result, it is desirable that of frame and power transmission system is shifted by the additional system. This is cause by the moment of inertia of the additional system, because the center of gravity location of the additional system is far from that of the power transmission system.