• Earthquakes and Structures
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• v.25 no.6
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• pp.455-467
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• 2023

This study focuses on demonstrating the effectiveness of vibration control of tuned rotary mass damper (TRMD) for reducing the bidirectional and torsional response of the irregular asymmetric structure with voided slabs under earthquake excitations. The TRMD arranged in plane of one-story eccentric structure is proposed as a distributed tuned rotary mass damper (DTRMD) system. Lagrange's equation is used to derive the equations of motion of the controlled system. The optimum position and number of TRMD are numerically investigated under harmonic excitation and the control effects of different distributions are discussed. Furthermore, a shaking table test is conducted under different excitation cases, including free vibration, forced vibration and seismic wave to investigate the absorption performance of the device. The numerical simulations of different distributions of the TRMDs show that the DTRMDs are more effective in reduction of the displacement response of the asymmetric structure under the same mass ratio, even when the degree of eccentricity becomes large. However, with small degree of eccentricity, the unreasonable asymmetrical arrangement may cause the increase of the peak value of the rotational angular displacement. Finally, the experimental investigations exhibit similar results of translational displacement of the structure. It is concluded that the vibration of the irregular asymmetric structure can be controlled more economically and effectively by reducing the mass ratio through reducing the quantity of TRMDs at the high stiffness end.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.5
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• pp.1055-1067
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• 1994

This paper is presented to perform linear dynamic analysis of bridges due to vehicle moving on bridges. The road surface roughness and bridge/vehicle interaction are also considered. The bridge and vehicle are modeled as 3-D bridge and vehicle model, respectively. The road surface roughness of the roadway and bridge decks are generated from power spectral density(PSD) function for good road. The PSD function proposed by C.J. Dodds and J.D. Robson is used to describe the road surface roughness for good road condition. The vehicles are modeled as two nonlinear vehicle model with 7-D.O.F of truck and 12-D.O.F of tractor-trailer and the equations of motion of the vehicles are derived using Lagrange's equation. The main girder and concrete deck are modeled as beam and shell element, respectively and rigid link is used between main girder and concrete deck. The equations of motion of the vehicles are solved by Newmark ${\beta}$ method and the equations of the motion of the bridges are solved by mode-superposition procedures. The validity of the proposed procedure is demonstrated by comparing the results with the experimental data reported by the AASHO Road Test. The comparison shows that the agreement between experiment and theory is quite satisfactory.

• Journal of Korean Society of Steel Construction
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• v.23 no.2
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• pp.199-210
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• 2011

The cables in cable-stayed bridges are under high stress and are very sensitive to vibration due to their small section areas compared with other members. Therefore, it is reasonable to evaluate the cable impact factor by taking into account the dynamic effect due to moving-vehicle motion. In this study, the cable impact factors were evaluated via moving-vehicle-load analysis, considering the design parameters, i.e., vehicle weight, cable model, road surface roughness, vehicle speed, longitudinal distance between vehicles. For this purpose, two steel composite cable-stayed bridges with 230- and 540-m main spans were selected. The results of the analysis were then compared with those of the influence line method that is currently being used in design practice. The road surface roughness was randomly generated based on ISO 8608, and the convergence of impact factors according to the number of generated road surfaces was evaluated to improve the reliability of the results. A9-d.o.f. tractor-trailer vehicle was used, and the vehicle motion was derived from Lagrange's equation. 3D finite element models for the selected cable-stayed bridges were constructed with truss elements having equivalent moduli for the cables, and with beam elements for the girders and the pylons. The direct integration method was used for the analysis of the bridge-vehicle interaction, and the analysis was conducted iteratively until the displacement error rate of the bridge was within the specified tolerance. It was acknowledged that the influence line method, which cannot consider the dynamic effect due to moving-vehicle motion, could underestimate the impact factors of the end-cables at the side spans, unlike moving-vehicle-load analysis.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1139-1144
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• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}-2C$ is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.443-448
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• 2010

Rapid advance in information technology requires high performance devices with compact size. Integrated multi-layer electronic element with different functions enables those compact devices to possess various performances and powerful capabilities. In mass production, the multi-layer electronic element is manufactured as a bulk type with a large number of parts for productivity. However, this may cause the electronic part to be damaged in the cutting process of the bulk elements to separate into each part. Therefore the cutting performance of multi-layer element bulk is playing an important role in the view of production efficiency. This study focuses on the cutting characteristics of multi-layer electronic elements. In order to increase the efficiency, the vibration cutting method was applied to the blade cutting machine. Flexure hinge structure, which is an physical amplifier of increasing displacement, was attached to the vibration cutting device for machining efficiency. The behaviors of flexure hinge were modeled with Lagrange equation and simulated with finite element method (FEM). Performance of hinge structure was verified by experimental modal analysis (EMA) for hinge structure to be tuned to the specific mode of vibrations. Cutting experiments of multi-layer elements were conducted with the proposed vibrating cutting module, and the characteristics was analyzed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.775-783
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• 2017

In this paper, an impulsive rendezvous problem by using minimum energy of spacecraft in different orbits is addressed. In particular, the orbits considered in this paper are the general orbits including the elliptic orbit, while most of the orbits considered in the literature have been restricted within co-planar or circular orbits. The constraints for solving this optimization problem are the Kepler's equation formulated with the universal variable, and the final position and velocity of two spacecraft. Also, the Lagrange coefficients, sometimes called as f and g solution, are used to describe the orbit transfer. The proposed method technique is demonstrated through numerical simulation by considering the minimum energy, and both the minimum energy and the wait time, respectively. Finally, it is also verified by comparing with the Hohmann transfer known as the minimum energy trajectory. Although a closed-form solution cannot be obtained, it shows that the suggested technique can provide a new insight to solve various orbital transfer problems.

• Journal of the Korea institute for structural maintenance and inspection
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• v.14 no.5
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• pp.93-101
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• 2010

The effects of braking of trains and roughness of rails on the dynamic behavior of bridges are studied. The train-bridge interaction is considered by solving Lagrange's equation of motions. Newmark's direct integration is used to solve the governing equations. Dynamic train loads acting on piers at each time step are evaluated, and the wheel-rail roughness effect is considered by using the PSD curve of the rail. The model of braking forces in bridge section is based on the change of deceleration mentioned in ASTM(American Society for Testing and Materials) E503-82. Only skidding frictions without considering rolling frictions are modeled, and the friction coefficient of 0.25 is assumed. Parametric studies in a simply supported PC Box girder bridge are carried out to verify the present method and to analyze the effects of train speed, wheel-rail roughness, braking forces on dynamic train loads.

• Geomechanics and Engineering
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• v.2 no.1
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• pp.1-18
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• 2010

The analysis of structure response and design of buried structures subjected to dynamic destructive loads have been receiving increasing interest due to recent severe damage caused by strong earthquakes and terrorist attacks. For a comprehensive design of buried structures subjected to blast loads to be conducted, the whole system behaviour including simulation of the explosion, propagation of shock waves through the soil medium, the interaction of the soil with the buried structure and the structure response needs to be simulated in a single model. Such a model will enable more realistic simulation of the fundamental physical behaviour. This paper presents a complete model simulating the whole system using the finite element package ABAQUS/Explicit. The Arbitrary Lagrange Euler Coupling formulation is used to model the explosive charge and the soil region near the explosion to eliminate the distortion of the mesh under high deformation, while the conventional finite element method is used to model the rest of the system. The elasto-plastic Drucker-Prager Cap model is used to model the soil behaviour. The explosion process is simulated using the Jones-Wilkens-Lee equation of state. The Concrete Damage Plasticity model is used to simulate the behaviour of concrete with the reinforcement considered as an elasto-plastic material. The contact interface between soil and structure is simulated using the general Mohr-Coulomb friction concept, which allows for sliding, separation and rebound between the buried structure surface and the surrounding soil. The behaviour of the whole system is evaluated using a numerical example which shows that the proposed model is capable of producing a realistic simulation of the physical system behaviour in a smooth numerical process.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Geophysics and Geophysical Exploration
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• v.11 no.1
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• pp.68-77
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• 2008

We have developed an inversion algorithm for loop-loop electromagnetic (EM) data, based on the localised non-linear or extended Born approximation to the solution of the 2.5D integral equation describing an EM scattering problem. Source and receiver configuration may be horizontal co-planar (HCP) or vertical co-planar (VCP). Both multi-frequency and multi-separation data can be incorporated. Our inversion code runs on a PC platform without heavy computational load. For the sake of stable and high-resolution performance of the inversion, we implemented an algorithm determining an optimum spatially varying Lagrangian multiplier as a function of sensitivity distribution, through parameter resolution matrix and Backus-Gilbert spread function analysis. Considering that the different source-receiver orientation characteristics cause inconsistent sensitivities to the resistivity structure in simultaneous inversion of HCP and VCP data, which affects the stability and resolution of the inversion result, we adapted a weighting scheme based on the variances of misfits between the measured and calculated datasets. The accuracy of the modelling code that we have developed has been proven over the frequency, conductivity, and geometric ranges typically used in a loop-loop EM system through comparison with 2.5D finite-element modelling results. We first applied the inversion to synthetic data, from a model with resistive as well as conductive inhomogeneities embedded in a homogeneous half-space, to validate its performance. Applying the inversion to field data and comparing the result with that of dc resistivity data, we conclude that the newly developed algorithm provides a reasonable image of the subsurface.