• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• Steel and Composite Structures
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• v.19 no.6
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• pp.1421-1447
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• 2015

In this paper, the effect of material-temperature dependent on the wave propagation of a cantilever beam composed of functionally graded material (FGM) under the effect of an impact force is investigated. The beam is excited by a transverse triangular force impulse modulated by a harmonic motion. Material properties of the beam are temperature-dependent and change in the thickness direction. The Kelvin-Voigt model for the material of the beam is used. The considered problem is investigated within the Euler-Bernoulli beam theory by using energy based finite element method. The system of equations of motion is derived by using Lagrange's equations. The obtained system of linear differential equations is reduced to a linear algebraic equation system and solved in the time domain and frequency domain by using Newmark average acceleration method. In order to establish the accuracy of the present formulation and results, the comparison study is performed with the published results available in the literature. Good agreement is observed. In the study, the effects of material distributions and temperature rising on the wave propagation of the FGM beam are investigated in detail.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1423-1427
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• 1997

This paper deals with an algebraic approach to FDI observer design procedure. In general, FDI observer can be designed a sLuenbrger-type and equations for unknown input and actuator fault estimation include derivation of system outputs which is not available from the measurement directly. At this point, this paper presents STWS approach which can convert the derivation procedure to the recursive algebraic form by using its orthogonality and disjointess to alleviate such problems.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.169-171
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• 1988

This paper deals with the robustness property of Kalman filters for linear systems with delay in output. The operator-type Riccati equation is transformed to algebraic equations, and the circle condition is derived. Based on the circle condition, it is shown that the same nondivergence margin, (1/2, .inf.) gain margin and +-60.deg. phase margin, is guaranteed as for ordinary systems.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.3
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• pp.399-406
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• 1996

This paper presents a method of hierarchical state estimation of the time-varying linear systems via Block-pulse function(BPF). When we estimate the state of the systems where noise is considered, it is very difficult to obtain the solutions because minimum error variance matrix having a form of matrix nonlinear differential equations is included in the filter gain calculation. Therefore, hierarchical approach is adapted to transpose matrix nonlinear differential equations to a sum of low order state space equation from and Block-pulse functions are used for solving each low order state space equation in the form of simple and recursive algebraic equation. We believe that presented methods are very attractive nd proper for state estimation of time-varying linear systems on account of its simplicity and computational convenience. (author). 13 refs., 10 figs.

• Honam Mathematical Journal
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• v.43 no.3
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• pp.373-383
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• 2021

In this study, a numerical method deals with the Chebyshev wavelet collocation and Adomian decomposition methods are proposed for solving Korteweg-de Vries equation. Integration of the Chebyshev wavelets operational matrices is derived. This problem is reduced to a system of non-linear algebraic equations by using their operational matrix. Thus, it becomes easier to solve KdV problem. The error estimation for the Chebyshev wavelet collocation method and ADM is investigated. The proposed method's validity and accuracy are demonstrated by numerical results. When the exact and approximate solutions are compared, for non-linear or linear partial differential equations, the Chebyshev wavelet collocation method is shown to be acceptable, efficient and accurate.

• Bulletin of the Society of Naval Architects of Korea
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• v.13 no.1
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• pp.17-23
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• 1976

Some methods of analysis of rectangular plates under distributed load of various intensity with interior supports are presented herein. Analysis of many structures such as bottom, side shell, and deck plate of ship hull and flat slab, with or without internal supports, Floor systems of bridges, included crthotropic bridges is a problem of plate with elastic supports or continuous edges. When the four edges of rectangular plate is simply supported, the double Fourier series solution developed by Navier can represent an exact result of this problem. If two opposite edges are simply supported, Levy's method is available to give an "exact" solution. When the loading condition and supporting condition of a plate does not fall into these cases, no simple analytic method seems to be feasible. Analysis of a simply supported rectangular plate under irregularly distributed loads of various intensity with internal supports is carried out by applying Navier solution well as the "Principle of Superposition." Finite difference technique is used to solve plates under irregularly distributed loads of various intensity with internal supports and with various boundary conditions. When finite difference technique is applied to the Lagrange's plate bending equation, any of fourth order derivative term in this equation produces at least five pivotal points leading to some troubles when the resulting linear algebraic equations are to be solved. This problem was solved by reducing the order of the derivatives to two: the fourth order partial differential equation with one dependent variable, namely deflection, is changed to an equivalent pair of second order partial differential equations with two dependent variables. Finite difference technique is then applied to transform these equations to a set of simultaneous linear algebraic equations. Principle of Superposition is then applied to handle the problems caused by concentrated loads and interior supports. This method can be used for the cases of plates under irregularly distributed loads of various intensity with arbitrary conditions such as elastic supports, or continuous edges with or without interior supports, and this method can also be solve the influence values of deflection, moment and etc. at arbitrary position of plates under the live load.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.9 s.240
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• pp.1049-1056
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• 2005

A conservative pressure-based finite-volume numerical method has been developed for computing flow and heat transfer by using an unstructured grid system. The method admits arbitrary convex polyhedra. Care is taken in the discretization and solution procedures to avoid formulations that are cell-shape-specific. A collocated variable arrangement formulation is developed, i.e. all dependent variables such as pressure and velocity are stored at cell centers. Gradients required for the evaluation of diffusion fluxes and for second-order-accurate convective operators are found by a novel second-order accurate spatial discretization. Momentum interpolation is used to prevent pressure checkerboarding and the SIMPLE algorithm is used for pressure-velocity coupling. The resulting set of coupled nonlinear algebraic equations is solved by employing a segregated approach, leading to a decoupled set of linear algebraic equations fer each dependent variable, with a sparse diagonally dominant coefficient matrix. These equations are solved by an iterative preconditioned conjugate gradient solver which retains the sparsity of the coefficient matrix, thus achieving a very efficient use of computer resources.

• Journal of Mechanical Science and Technology
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• v.17 no.4
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• pp.538-544
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• 2003

Although many methodologies exist for determining the constrained equations of motion, most of these methods depend on numerical approaches such as the Lagrange multiplier's method expressed in differential/algebraic systems. In 1992, Udwadia and Kalaba proposed explicit equations of motion for constrained systems based on Gauss's principle and elementary linear algebra without any multipliers or complicated intermediate processes. The generalized inverse method was the first work to present explicit equations of motion for constrained systems. However, numerical integration results of the equation of motion gradually veer away from the constraint equations with time. Thus, an objective of this study is to provide a numerical integration scheme, which modifies the generalized inverse method to reduce the errors. The modified equations of motion for constrained systems include the position constraints of index 3 systems and their first derivatives with respect to time in addition to their second derivatives with respect to time. The effectiveness of the proposed method is illustrated by numerical examples.

• Steel and Composite Structures
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• v.24 no.1
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• pp.53-63
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• 2017

The paper presents the simplified matrix stiffness method for analysis of composite and prestressed beams. The method is based on the previously developed "exact" analysis method that uses the mathematical theory of linear integral operators to derive all relations without any mathematical simplifications besides inevitable idealizations related to the material rheological properties. However, the method is limited since the closed-form solution can be found only for specific forms of the concrete creep function. In this paper, the authors proposed the simplified analysis method by introducing the assumption that the unknown deformations change linearly with the concrete creep function. Adopting this assumption, the nonhomogeneous integral system of equations of the "exact" method simplifies to the system of algebraic equations that can be easily solved. Therefore, the proposed method is more suitable for practical applications. Its high level of accuracy in comparison to the "exact" method is preserved, which is illustrated on the numerical example. Also, it is more accurate than the well-known EM method.