• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.496-500
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• 1993

This paper presents an end-point position control of 1-link flexible robot arm by the PID self-tuning fuzzy algorithm. The governing equation is derived by the extended Hamilton's principle and based on the Bernoullie-Euler beam theory. The governing equation is solved by applying the Laplace transform and the numerical inversion method. The arm is mounted on the translational mechanism driven by a ballscrew whose rotation is controlled by dcservomotor. Tip position is controlled by the PID self-tuning fuzzy algorithm so that it follows a desired position. This paper shows the experimental and theoretical results of tip dispalcement, and also shows the good effects reducing the residual vibration of the end-point.

• Structural Engineering and Mechanics
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• 제31권2호
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• pp.211-223
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• 2009

Transient response analysis can be conducted either in the time domain, or via the frequency domain. Sometimes a frequency domain method (FDM) has advantages over a time domain method. A practical issue in the FDM is to find out an appropriate extended period, which may be affected by several factors, such as the excitation duration, the system damping, the artificial damping, the period of interest, etc. In this report, the extended period of the FDM based on the Duhamel's integral is investigated. This Duhamel's integral based FDM does not involve the unit impulse response function (UIRF) beyond the period of interest. Due to this fact, the ever-lasting UIRF can be simply set as zero beyond the period of interest to shorten the extended period. As a result, the preferred extended period is the summation of the period of interest and the excitation duration. This conclusion is validated by numerical examples. If the extended period is too short, then the front portion of the period of interest is more prone to errors than the rear portion, but the free vibration segment is free of the wraparound error.

• Bulletin of the Korean Chemical Society
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• 제33권11호
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• pp.3805-3809
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• 2012

Results for molecular dynamics simulation method of small liquid drops of argon (N = 1200-14400 molecules) at 94.4 K through a Lennard-Jones intermolecular potential are presented in this paper as a preliminary study of drop systems. We have calculated the density profiles ${\rho}(r)$, and from which the liquid and gas densities ${\rho}_l$ and ${\rho}_g$, the position of the Gibbs' dividing surface $R_o$, the thickness of the interface d, and the radius of equimolar surface $R_e$ can be obtained. Next we have calculated the normal and transverse pressure tensor ${\rho}_N(r)$ and ${\rho}_T(r)$ using Irving-Kirkwood method, and from which the liquid and gas pressures ${\rho}_l$ and ${\rho}_g$, the surface tension ${\gamma}_s$, the surface of tension $R_s$, and Tolman's length ${\delta}$ can be obtained. The variation of these properties with N is applied for the validity of Laplace's equation for the pressure change and Tolman's equation for the effect of curvature on surface tension through two routes, thermodynamic and mechanical.

• Computers and Concrete
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• 제25권6호
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• pp.575-585
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• 2020

Based on a refined shear deformation finite strip, transient vibrations of graphene oxide powder (GOP) reinforced plates due to external pulse loads have been investigated. The plate has uniformly and linearly distributed GOPs inside material structure. Applied pulse loads have been selected as sinusoidal, linear and blast types. Such pulse loads result in transient vibrations of the GOP-reinforced plates which are not explored before. Finite strip method (FSM) has been performed for solving the equations of motion and then inverse Laplace transform technique has been employed to derive transient responses due to pulse loading. It is reported in this study that the transient responses of GOP-reinforced plates are dependent on GOP dispersions, GOP volume fraction, type of pulse loading, loading time and load locations.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2000년도 춘계 학술대회논문집
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• pp.99-106
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• 2000

A method of two and three dimensional orthogonal grid generation with control of spacing by using the covariant Laplace equation is Presented. An important feature of the methodology is its ability to control effectively the grid spacing especially near the boundaries still maintaining good orthogonality in whole field. The method is based on the concept of decomposition of the global transformation into consecutive transformation of an approximate conformal mapping and au auxiliary orthogonal mapping to have linear and uncoupled equations. Control of cell spacing is based on the concept of reference arc length, and orthogonal correction is performed in the auxiliary domain. It is concluded that the methodology can successfully generate well controlled orthogonal grids around bodies of 2 and 3 dimensional configurations.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.625-633
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• 2005

A finite element vibration analysis of thin-walled cylindrical shells conveying fluid with uniform velocity is presented. The dynamic behavior of thin-walled shell is based on the Sanders' theory and the fluid in cylindrical shell is considered as inviscid and incompressible so that it satisfies the Laplace's equation. A beam-like shell element is used to reduce the number of degrees-of-freedom by restricting to the circumferential modes of cylindrical shell. An estimation of frequency response function of the pipe considering of the coupled effects of the internal fluid is presented. A dynamic coupling condition of the interface between the fluid and the structure is used. The effective thickness of fluid according to circumferential modes is also discussed. The influence of fluid velocity on the frequency response function is illustrated and discussed. The results by this method are compared with published results and those by commercial tools.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.890-895
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• 1990

A theoretical and experimental study of a single link flexible arm a tip mass is presented for the translational end-point positioning. The problem of shifting the end-point from its initial position to the commanded position by the amount of W $_{d}$ is considered for the open loop control such that the base follows up the given path function. The theoretical results are obtained by applying the method of the Laplace transform to the governing equation, and the solution is calculated by the method of numerical inversion. Experimental results are obtained and compared with the theoretical ones.s.

• 한국정밀공학회지
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• 제9권4호
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• 한국안전학회지
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• 제11권1호
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• pp.46-52
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• 1996

In this paper, an analytical method is proposed to find the dimensions of impact stresses with using the dimensions of impact loading parameter regardless of mass of impactor, velocity of impactor, and plate thickness. In analytical method of Impulsive stresses, the three-dimensional dynamic theory of elasticity using rectangular coordinates and the potential theory of displacement are utilized, and when the measurement of Impact loading is difficult especially for a steel ball colliding on an infinite plate, the impact loading can be obtained by using the classical plate theory and Hertz’s contact theory. And in the numerical analysis, the fast Fourier transform (F. F. T.) algorithm and the numerical inverse Laplace transformation are used because the analysis of impact loading Is difficult to obtain solutions by using the thress-dimensional dynamic theory of elasticity.

• 호남수학학술지
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• 제38권3호
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• pp.435-454
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• 2016

This paper investigates the effect of dual-phase-lags on a thermoviscoelastic orthotropic solid with a cylindrical cavity. The cylindrical cavity is subjected to a thermal shock varying heat and its material is taken to be of Kelvin-Voigt type. The phase-lag thermoelastic model, Lord and Shulman's model and the coupled thermoelasticity model are employed to study the thermomechanical coupling, thermal and mechanical relaxation (viscous) effects. Numerical solutions for temperature, displacement and thermal stresses are obtained by using the method of Laplace transforms. Numerical results are plotted to illustrate the effect phase-lags, viscoelasticity, and the variability thermal conductivity parameter on the studied fields. The variations of all field quantities in the context of dual-phase-lags and coupled thermoelasticity models follow similar trends while the Lord and Shulman's model may be different. The influence of viscosity parameter and variability of thermal conductivity is very pronounced on temperature and thermal stresses of the thermoviscoelastic solids.