• Journal of Sensor Science and Technology
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• v.27 no.3
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• pp.165-169
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• 2018

A single-axis Cubli frame realized simply with an IMU sensor and DC motor is presented herein. To maintain the balance on the Cubli frame, an LQR controller based on a Lagrangian derivation of the dynamics was designed, which utilized the state variables of the frame angle and its angular acceleration, as well as the wheel angle and its angular acceleration. The designed LQR controller showed a settling time balancing capability of approximately two seconds and 40% of the maximum overshoot in Matlab/Simulink simulations. Our experimental results of the fabricated Cubli frame matched with the simulation results. It maintained balancing at the reference position even though an initial offset as well as external disturbance during the balancing was applied.

• Water for future
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• v.27 no.4
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• pp.145-154
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• 1994

A dynamic model for the pollutant transport analysis in a river is developed by preissmann scheme and lagrangian method considering tidal effects. A generalized Lagranian model alleviate the numerical difficulties associated with the use of the Eulerian reference frame. Comparing the finite difference and finite element solutions of one-dimensional transport equation, Lagrangian model shows the most stable and accurate results. The flow model is calibrated using the recorded flood data in the downstream of the Han River. The particle paths-of-travel is computed by the model for the various low flow conditions. The model will provide operational informations useful for water quality management in the downstream of the Han River.

• Journal of the Korean GEO-environmental Society
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• v.4 no.1
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• pp.5-10
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• 2003

The solids and the fluids in porous media have a relative velocity to each other. Due to physically and chemically different material properties and their relative velocity, the behavior of saturated porous media is extremely complicated. Thus, in order to describe and clarify the deformation behavior of saturated porous media, constitutive models for deformation of porous media coupling several effects need to be developed in frame of Arbitrary Lagrangian Eulerian(ALE) description. The aim of ALE formulations is to maximize the advantages of Lagrangian and Eulerian elements, and to minimize the disadvantages. Therefore, this method is appropriate for the analysis of porous media which are considered for the behavior of the solids and the fluids. For this reason, mass balance equations for saturated porous media are derived here in ALE description frames. ALE formulations of mass conservation for the solid phase and the fluid phase are expressed. Then, linear momentum balance equation for porous media as multiphase media is expressed.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.327-334
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• 2001

This paper presents a non-linear analysis procedure for plane frame structures by finite element formulation with assumptions of Timoshenko beam theory. Finite element displacement method based on Lagrangian formulation is used and two-noded and isoparametric line element is adopted to represent finite element model. The layered approach is used for the elasto-plastic analysis of the plane frame structures with rectangular and I cross sections. A load incremental method combined with the tangent stiffness and the initial stiffness methods for each load increment is used for the solution of non-linear equations. Numerical examples are presented to investigate the behavior and the accuracy of the elasto-plastic non-linear application and the results of this study are compared with other solutions using the concept of plastic hinge.

• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• Journal of the korean Society of Automotive Engineers
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• v.12 no.2
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• pp.29-42
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• 1990

Three dimensional frame structures with such nonlinearities as large displacements, medium rotations, plastic hinges and local defects are efficiently analyzed by introducing the nonlinear rotational spring. Formulations are based on the incremental updated Lagrangian descriptions and the virtual work principle, Axial displacement and twisted angle in beam elements are interpolated linearly, while bending displacements are approximated by the Hermite polynomials. The modified are length method is used as a solution method. The moment-angle of rotation relationship obtained analytically or experimentally can be easily incorporated into the solution procedure. Several examples tested show that the present method can be used efficiently in analyzing nonlinear frame structures with plastic hinges or local defect.

• Computational Structural Engineering
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• v.10 no.4
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• pp.205-216
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• 1997

In order to trace the lateral post-buckling behaviors of thin-wafled space frames, a geometrically nonlinear finite element formulation is presented by applying incremental equilibrium equations based on the updated Lagrangian formulation and introducing Vlasov's assumption. The improved displacement field for symmetric thin-walled cross sections is introduced based on inclusion of second order terms of finite rotations, and the potential energy corresponding to the semitangential rotations and moments is consistently derived. For finite element analysis, tangent stiffness matrices of the thinwalled space frame element with 7 degrees of freedom including the restrained warping for each node are derived by using the Hermition polynomials as shape functions. A co-rotational formulation in order to evaluate the unbalanced loads is presented by separating the rigid body rotations and pure deformations from incremental displacements and evaluating the updated direction cosines of the frame element due to rigid body rotations and incremental member forces from pure deformations. Finite element solutions for the spatial buckling and post-buckling analysis of thin-walled space frames are presented and compared with available solutions and other researcher's results.

• Computational Structural Engineering
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• v.10 no.1
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• pp.201-211
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• 1997

A clearly consistent finite element formulation for geometrically non-linear analysis of space frames is presented by applying incremental equilibrium equations based on the updated Lagrangian formulation and introducing Vlasov's assumption. The improved displacement field for symmetric cross sections is introduced based on inclusion of second order terms of finite rotations, and the potential energy corresponding to the semitangential rotations and moments is consistently derived. For finite element analysis, elastic and geometric stiffness matrices of the space frame element are derived by using the Hermitian polynomials as shape functions. A co-rotational formulation in order to evaluate the unbalanced loads is presented by separating the rigid body rotations and pure deformations from incremental displacements and evaluating the updated direction cosines of the frame element due to rigid body rotations and incremental member forces from pure deformaions. Finite element solutions for the spatial buckling and post-buckling analysis of space frames are compared with available solutions and other researcher's results.

• 한국전산유체공학회:학술대회논문집
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• 2003.10a
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• pp.126-127
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• 2003

In the generalized characteristic coordinate system (GCCS) proposed by Wu and Shi [1], the frame moves at a speed which is a linear combination of the convective speed and the sound speed, thus unifying the classical Eulerian approach, Lagrangian approach, and the unified coordinate system (UCS) of Hui and his co-workers [2]. Here some properties of Euler equations in the GCCS are studied and the advantages of GCCS in capturing expansion fans and shock waves are demonstrated by the results of numerical tests.

• ETRI Journal
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• v.24 no.4
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• pp.280-289
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• 2002

In this work, we present a novel approach to the bit allocation problem that aims to minimize overall distortion subject to a bit rate constraint. The optimal solution can be found by the Lagrangian method with dynamic programming. However, the optimal bit allocation for block-based interframe coding is practically unattainable because of the interframe dependency of macroblocks caused by motion compensation. To reduce the computational burden while maintaining a result close to the optimum, i.e., near optimum, we propose an alternative method. First, we present a partitioned form of the bit allocation problem: a "frame-level problem" and "one-frame macroblock-level problems." We show that the solution to this new form is also the solution to the conventional bit allocation problem. Further, we propose a bit allocation algorithm using a "two-phase optimization technique" with an interframe dependency model and a rate-distortion model.