• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.9-16
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• 1998

The joint characteristics are necessary to be determined in the early stage of the vehicle body design. Researches on identification of joints in a vehicle body have been performed until the recent year. In this study, the joint characteristics of vehicle struct- ure were expressed as condensed forms from the full joint stiffness and mass matrix. The condensed joint stiffness and mass matrix were applied to typical T-type and Edge-type joints, and the usefulness was confirmed. In addition, those were applied to center pillar and full vehicle body to validate the practical application.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.12
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• pp.66-72
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• 2001

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.

• Tunnel and Underground Space
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• v.9 no.1
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• pp.1-11
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• 1999

A finite element code was developed to analyze coupled thermo-hydro-mechanical phenomena. This code is based on the finite element formulation provided by Noorishad et al. (1984) and Joint behavior was simulated Goodman's joint constitutive model. The developed code was applied for T-H-M coupling analysis for two kinds of shaft models, with a joint or without a joint respectively. For a model without a joint, temperature increased from the shaft wall to outward evidently. The radial displacement showed opposite directions of outward and inward at some distance from shaft wall. For a model with a joint, closure of joint was found due to thermal expansion. The temperature distribution along a joint showed relatively lower than that of rock matrix because of low thermal conductivity and high specific heat of water. And it could be concluded that effects of thermal flow to joint were more than that of hydraulic flow in a rock mass.

• Steel and Composite Structures
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• v.46 no.1
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• pp.107-114
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• 2023

A new intelligent adaptive control scheme was proposed that combines observer disturbance-based adaptive control and fuzzy adaptive control for a composite structure with a mass-adjustable damper. The most important advantage is that the control structures do not need to know the uncertainty limits and the interference effect is eliminated. Three adjustable parameters in LMI are used to control the gain of the 2D fuzzy control. Binary performance indices with weighted matrices are constructed to separately evaluate validation and training performance using the revalidation learning function. Determining the appropriate weight matrix balances control and learning efficiency and prevents large gains in control. It is proved that the stability of the control system can be ensured by a linear matrix theory of equality based on Lyapunov's theory. Simulation results show that the multilevel simulation approach combines accuracy with high computational efficiency. The M-TMD system, by slightly reducing critical joint load amplitudes, can significantly improve the overall response of an uncontrolled structure.

• Tunnel and Underground Space
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• v.13 no.4
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• pp.294-303
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• 2003

The structural behaviour of rock mass structure, such as tunnel or slope is critically dependent on the various characteristics of discontinuities. Therefore, it is important to survey and analyze discontinuities correctly for the design and construction of rock mass structure. One inevitable Procedure of discontinuity survey and analysis is joint set identification from a lot of raw directional joint data. The identification procedure is generally done by a graphical method. This type of analysis has some shortcomings such as subjective identification results, inability to use extra information on discontinuity, and so on. In this study, a computer program for joint set identification based on the fuzzy clustering algorithm was implemented and tested using two kinds of joint data. It was confirmed that fuzzy clustering method is effective and valid for joint set identification and estimation of mean direction and degree of clustering of huge joint data through the applications.

• Tunnel and Underground Space
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• v.20 no.3
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• pp.225-232
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• 2010

In this study, a newly modified 3-dimensional strain-dependent hydraulic conductivity modification relation which incorporates the influences of normal deformation and shear dilation is suggested. Since rock mass is simulated as a orthogonally jointed medium, an anisotropic hydraulic conductivity field can be evaluated using that relation. The empirical relationship on the basis of GSI and disturbance factor has been used to estimate the value of a modulus reduction ratio (ratio of rock mass deformation modulus to rock matrix elastic modulus). Principal hydraulic conductivity directions is not generally coincident with the global coordinate due to the inclining of joint and the influence of joint inclination is evaluated under strain rotation. Result shows that change of hydraulic conductivity does decreases with the increase of GSI and disturbance factor has much effects on the hydraulic conductivity of rock mass getting GSI value above 50. It is found that the inclination of joint impacts on the variation of hydraulic conductivity.

• Journal of Advanced Marine Engineering and Technology
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• v.18 no.5
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• pp.68-77
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• 1994

The authors apply the transfer influence coefficient method to the 3-dimensional vibration analysis of beam with multi-joints and formulate a general algorithm to analysis the longitudinal, flexural and torsional coupled free vibration. In this paper, the structure, which is mainly founded in the robot arms, cranes and so on, has some crooked parts, subsystems and joints but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at which node the displacement vector is discontinuous. The superiorty of the present method to the transfer matrix method in the computation accuracy was confirmed by the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could ve controlled by varying the values o the spring constants.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.3
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• pp.256-266
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• 1997

The authors apply the transfer influence coefficient method to the 3. dimensional vibration analysis of beam with multi - joints and formulate a general algorithm to analyse the longitudinal, flexural and torsional coupled forced vibration. In this paper, a structure which is mainly found in the robot arms, cranes and so on, has some crooked parts, subsystems and joints, but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at node which the displacement vector is discontinuous. The superiority of the present method to the transfer matrix method in the computation accuracy was confirmed from the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could be controlled by varying the values of the spring constants.

• Smart Structures and Systems
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• v.13 no.2
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• pp.257-280
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• 2014

In this paper, a novel PARAllel FACtor (PARAFAC) decomposition based Blind Source Separation (BSS) algorithm is proposed for modal identification of structures equipped with tuned mass dampers. Tuned mass dampers (TMDs) are extremely effective vibration absorbers in tall flexible structures, but prone to get de-tuned due to accidental changes in structural properties, alteration in operating conditions, and incorrect design forecasts. Presence of closely spaced modes in structures coupled with TMDs renders output-only modal identification difficult. Over the last decade, second-order BSS algorithms have shown significant promise in the area of ambient modal identification. These methods employ joint diagonalization of covariance matrices of measurements to estimate the mixing matrix (mode shape coefficients) and sources (modal responses). Recently, PARAFAC BSS model has evolved as a powerful multi-linear algebra tool for decomposing an $n^{th}$ order tensor into a number of rank-1 tensors. This method is utilized in the context of modal identification in the present study. Covariance matrices of measurements at several lags are used to form a $3^{rd}$ order tensor and then PARAFAC decomposition is employed to obtain the desired number of components, comprising of modal responses and the mixing matrix. The strong uniqueness properties of PARAFAC models enable direct source separation with fine spectral resolution even in cases where the number of sensor observations is less compared to the number of target modes, i.e., the underdetermined case. This capability is exploited to separate closely spaced modes of the TMDs using partial measurements, and subsequently to estimate modal parameters. The proposed method is validated using extensive numerical studies comprising of multi-degree-of-freedom simulation models equipped with TMDs, as well as with an experimental set-up.