• 한국정밀공학회지
• /
• 제15권3호
• /
• pp.68-74
• /
• 1998

Performance and efficiency of deep seabed collector is a primary factor for feasibility of commercial deep ocean mining. The efficiency of manganese nodules collector depends on vehicle mobility relative to undulating seafloor and is attributed pickup head to keep altitude and elevation of it against seafloor. For this reason, motion control of pickup head relative to the changing deep-sea topography and other disturbances is of particular importance in design of pickup device. The concept of design axiom is applied to a pickup device of hybrid type in order to evaluate the concept design. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pickup head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• 한국전산구조공학회논문집
• /
• 제26권5호
• /
• pp.393-399
• /
• 2013

본 논문은 그래핀의 모드 I 균열 진전에 대한 분자동역학 해석과 수치보조장을 사용하는 영역 투영 방법의 역문제 해석 방법을 결합하여 균열 선단 응집 법칙을 평가하는 효율적인 방법을 제시하고 있다. 그래핀의 균열 선단 응집 법칙을 결정하는 것은 균열 선단에서 멀리 떨어진 영역의 변위를 사용하여 균열 면에서 미지의 응집 트랙션과 열림 변위를 구하는 역문제를 해석해야 하는데 상호 J-적분과 M-적분의 경로 보존성과 효율적인 수치보조장을 사용하는 방법을 적용하였다. 분자동역학 해석에서 원자 변위를 유한요소 절점 변위로 이동최소자승법을 사용하여 근사하였으며 안정적인 역문제 해석을 통하여 원자 단위의 거동을 연속체 해석으로 연결시킬 수 있는 새로운 방법을 보여주었다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 춘계학술대회 논문집
• /
• pp.566-569
• /
• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.

• 경영과정보연구
• /
• 제38권1호
• /
• pp.141-153
• /
• 2019

본 연구는 우리나라의 대표적인 상장지수펀드인 KODEX 레버리지와 KODEX 인버스가 KOSPI200 지수에 대해 가격발견의 역할과 이들 간에 동태적 상호의존성을 알아보기 위해 벡타오차수정모형을 이용하여 분석하고자 한다. 실증분석을 위해 2018년 4월 10일부터 2018년 7월 10일까지의 KODEX 레버리지, KODEX 인버스, KOSPI200 지수의 1분 데이터가 사용되었다. 실증분석에 대한 주요 결과는 다음과 같다. 첫째, KODEX 레버리지와 KOSPI200 지수 간에는 KODEX 레버리지가 가격발견에 있어서 우월한 역할을 한다는 증거를 발견하였다. 또한 KODEX 인버스와 KOSPI200 지수 간에는 앞의 결과와는 다르게 KOSPI200 지수가 가격발견에 대해 우위에 있는 것으로 나타났다. 둘째, KOSPI200 지수는 KODEX 레버리지에 대에 상대적으로 강한 의존성을 가지는 것으로 나타났고, 이것은 KODEX 레버리지 지수가 KOSPI200 지수에 비해 가격발견에 있어서 우월한 역할을 수행한다는 것과 일관성을 가지는 결과라고 볼 수 있다. 한편 KOSPI200 지수는 KODEX 인버스 지수에 대해 의존성이 존재한다고 할 수 있으나 KODEX 레버리지 지수보다는 약한 것으로 나타났다. 이러한 결과들은 자본시장에 참여하는 투자자들에게 투자의사결정에 있어서 유용한 정보가 될 것으로 판단된다.

• Structural Engineering and Mechanics
• /
• 제45권4호
• /
• pp.423-437
• /
• 2013

Complex structures are usually assembled from several substructures with joints connecting them together. These joints have significant effects on the dynamic behavior of the assembled structure and must be accurately modeled. In structural analysis, these joints are often simplified by assuming ideal boundary conditions. However, the dynamic behavior predicted on the basis of the simplified model may have significant errors. This has prompted the researchers to include the effect of joint stiffness in the structural model and to estimate the stiffness parameters using inverse dynamics. In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed for a two parameter joint stiffness matrix.

• Structural Engineering and Mechanics
• /
• 제88권5호
• /
• pp.493-500
• /
• 2023

The multiparameter eigenvalue method can be used to solve the damped finite element model updating problems. This method transforms the original problems into multiparameter eigenvalue problems. Comparing with the numerical methods based on various optimization methods, a big advantage of this method is that it can provide all possible choices of physical parameters. However, when solving the transformed singular multiparameter eigenvalue problem, the proposed method based on the generalised inverse of a singular matrix has some computational challenges and may fail. In this paper, more details on the transformation from the dynamic model updating problem to the multiparameter eigenvalue problem are presented and the structure of the transformed problem is also exposed. Based on this structure, the rigorous mathematical deduction gives the upper bound of the number of possible choices of the physical parameters, which confirms the singularity of the transformed multiparameter eigenvalue problem. More importantly, we present a row and column compression method to overcome the defect of the proposed numerical method based on the generalised inverse of a singular matrix. Also, two numerical experiments are presented to validate the feasibility and effectiveness of our method.

• 대한기계학회논문집A
• /
• 제22권3호
• /
• pp.704-713
• /
• 1998

The analysis of dynamic forces is essential to the design of systems, stress analysis, or life prediction of part of machine. Calculation of dynamic forces has very close relations with multibody dynamics algorithm. In this paper, an algorithm which calculates joint reaction force/moment of flexible multibody dynamic systems is proposed by using inverse dynamic algorithm and velocity transformation technique.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2002년도 추계학술대회 논문집(I)
• /
• pp.721-726
• /
• 2002

The topic on today is dynamic response analysis of curved bridge-AGT(Automated Guide-way Transit) vehicle interaction system. Rubber wheel type AGT vehicle is adopted in this study, and the vehicle is idealized as three dimensional eleven DOF model. Three types of composited steel box girder bridges are modelized with F.E. method. And three types of artificially generated surface roughnesses are adopted for analysis. The dynamic equations of curved bridge, AGT vehicle and surface roughness are derived by using Lagrange's equation of motion. And the equations are solved by Newmark-${\beta}$ method. As a result, The dynamic increasement factor is inverse proportional to radius curvature.

• 소음진동
• /
• 제9권1호
• /
• pp.103-112
• /
• 1999

A new modeling and analysis technique for one-dimensional distributed parameter systems is presented. First. discretized equations of motion in Laplace domain are derived by applying discretization methods for partial differential equations of a one-dimensional structure with respect to spatial coordinate. Secondly. the z and inverse z transformations are applied to the discretized equations of motion for obtaining a dynamic matrix for a uniform element. Four different discretization methods are tested with an example. Finally, taking infinite on the number of step for a uniform element leads to an exact dynamic matrix for the uniform element. A generalized modal analysis procedure for eigenvalue analysis and modal expansion is also presented. The resulting element dynamic matrix is tested with a numerical example. Another application example is provided to demonstrate the applicability of the proposed method.

• Steel and Composite Structures
• /
• 제49권2호
• /
• pp.125-141
• /
• 2023

Firstly, a new kind of prismatic tensegrity structures with redundant cables is defined, the topology, geometry and forming conditions of which are introduced further. The development of its mechanical properties including self-stress states and structural stiffness with the increment of the twist angle is also investigated carefully. Combined with the topology of this kind of structures, a reasonable erection scheme is proposed, in which some temporary lifting points need to be set and two groups of vertical cables are tensioned in batches. Then, a simplified dynamic relaxation method is employed to track the erection process inversely, which aims to predict each intermediate equilibrium state during the construction, and give the key structural parameters that can effectively guide the construction. The removal of the active cables, the relaxation or tension of the passive cables are simulated by controlling their axial stiffness, so that the structural composition as well as the serial numbers of the elements always keep invariant regardless of the withdrawal of the slack cables. The whole analysis process is clear in concept, simple to implement and easy to popularize. Finally, several examples are given to verify the practicability and effectiveness of the proposed method further.