• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.259-262
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• 2001

An improved robust hybrid control law is proposed. This law used the separated bounding function and the stiffness bound. It satisfied the performance though we don't know precise information of contact environments. It guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.

• Steel and Composite Structures
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• v.5 no.1
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• pp.1-15
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• 2005

Important characteristics of the previously proposed reduced stiffness method and a summery of its design curves for the buckling of the axially loaded sandwich cylindrical shells is presented. Comparison of the lower bound obtained with FEM analysis with that from the reduced stiffness analysis shows that the proposed reduced stiffness method can provide safe lower bounds for the buckling of geometrically imperfect, axially loaded sandwich cylindrical shells. One of the attractive features of the reduced stiffness elastic lower bound analysis is that it provides safe estimates of buckling loads that do not depend on the specification of the precise magnitude of the imperfection spectra. As a result, designers can readily apply this method without being worried about possible geometrical imperfections that might be generated during fabrication and construction of sandwich cylindrical shells.

• Earthquakes and Structures
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• v.9 no.3
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• pp.481-501
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• 2015

Current design codes and technical recommendations often provide rough indications on how to assess effective stiffness of Reinforced Concrete (R/C) frames subjected to seismic loads, which is a key factor when a linear analysis is performed. The Italian design code (NTC-2008), Eurocode 8 and ACI 318 do not take into account all the structural parameters affecting the effective stiffness and this may not be on the safe side when second-order $P-{\Delta}$ effects may occur. This paper presents a study on the factors influencing the effective stiffness of R/C beams, columns and walls under seismic forces. Five different approaches are adopted and analyzed in order to evaluate the effective stiffness of R/C members, in accordance with the scientific literature and the international design codes. Furthermore, the paper discusses the outcomes of a parametric analysis performed on an actual R/C building and analyses the main variables, namely reinforcement ratio, axial load ratio, concrete compressive strength, and type of shallow beams. The second-order effects are investigated and the resulting displacements related to the Damage Limit State (DLS) under seismic loads are discussed. Although the effective stiffness increases with steel ratio, the analytical results show that the limit of 50% of the initial stiffness turns out to be the upper bound for small values of axial-load ratio, rather than a lower bound as indicated by both Italian NTC-2008 and EC8. As a result, in some cases the current Italian and European provisions tend to underestimate second-order $P-{\Delta}$ effects, when the DLS is investigated under seismic loading.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.517-522
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• 2000

When a real robot manipulator is mathematically modeled. uncertainties are not avoidable. The uncertainties are often nonlinear and time-varying. The uncertain factors collie from imperfect knowledge ok system parameters. payload change. friction. external disturbance. and etc. In this paper. we propose a class of robust hybrid controls of manipulators without knowing the exact stiffness and provide the stability analysis. Simulation results are provided to show the effectiveness of the algorithms.

• Structural Engineering and Mechanics
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• v.65 no.6
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• pp.731-739
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• 2018

This paper presents an optimal pattern for distributing stiffness along a framed tube structure through an analytic equation, which may be used during the preliminary design stage. Most studies in this field are computationally intensive and time consuming, while a hand-calculation method, as presented here, is a more suitable tool for sensitivity analyses and parametric studies. Approach in development of the analytic model is to minimize the mean compliance (external work) for a given volume of material. A variational statement of the problem is made, and a specified deformation-profile is obtained as the necessary condition for a minimum; enforcing this condition, stiffness is then computed. Due to some near-zero values for stiffness, the problem is modified by considering a lower bound constraint. To deal with this constraint, the design domain is assumed to be divided into two zones of constant stiffness and constant curvature; and the problem is restated in terms of these concepts. It will be shown that this methodology allows for easy computation of stiffness through an analytic and dimensionless equation, valid in any system of units. To show practicality of the proposed method, a tubed-system structure with uniform stiffness distribution is redesigned using the proposed model. Comparative analyses of the results reveal that in addition to simplicity of the proposed method, it provides a rather high degree of accuracy for real-world problems.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.8
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• pp.137-145
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• 1997

A two-dimensional program for the analysis of bimaterial inclusion has been developed using the bound- ary element method. In order to study the effects of circular inclusion on the stress field of the crack tip, numerical analysis was performed for the straight crack of finite length around the symmetric circular inclusion whose modulus of elasticity was different from that of the matrix material. In the case of inclusion whose stiffness was smaller than that of the matrix material, the stress intensity factor was found to increase as the crack enamated. The stress intensity factor was uninfluenced from the radial change in inclusion and remained constant for the stiffness equivalent to the matrix materials, where as it decreased for the inclusion with larger stiffness. For the vareation in the distance of the inclusion, a small increase in the stress intensity factor was observed for the case with small or equal stiffness compared with the matrix materials. The inclusion with larger stiffness showed a gradual decrease in the strss intensity factor as the crack emanated.

• Journal of the Earthquake Engineering Society of Korea
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• v.19 no.2
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• pp.63-74
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• 2015

This study investigated the influence of probabilistic variability in stiffness and nonlinearity of soil on response of nuclear power plant (NPP) structure subjected to seismic loads considering the soil-structure interaction (SSI). Both deterministic and probabilistic methods have been employed to evaluate the dynamic responses of the structure. For the deterministic method, $SRP_{min}$ method given in USNRC SRP 3.7.2(2013) (envelope of responses using three shear modulus profiles of lower bound($G_{LB}$), best estimate($G_{BE}$) and upper bound($G_{UB}$)) and $SRP_{max}$ method (envelope of responses by more than three ground profiles within range of $G_{LB}{\leq}G{\leq}G_{UB}$) have been considered. The probabilistic method uses the Latin Hypercube Sampling (LHS) that can capture probabilistic feature of soil stiffness defined by the median and the standard deviation. These analysis results indicated that 1) number of samples shall be larger than 60 to apply the probabilistic approach in SSI analysis and 2) in-structure response spectra using equivalent linear soil profiles considering the nonlinear behavior of soil medium can be larger than those based on low-strain soil profiles.

• Smart Structures and Systems
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• v.15 no.3
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• pp.699-715
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• 2015

A modal parameter based damage sensitive feature (DSF) is defined to mimic the relative change in any diagonal element of the stiffness matrix of a model of a structure. The damage assessment is performed in a statistical pattern recognition framework using empirical complementary cumulative distribution functions (ECCDFs) of the DSFs extracted from measured operational vibration response data. Methods are discussed to perform probabilistic structural health assessment with respect to the following questions: (a) "Is there a change in the current state of the structure compared to the baseline state?", (b) "Does the change indicate a localized stiffness reduction or increase?", with the latter representing a situation of retrofitting operations, and (c) "What is the severity of the change in a probabilistic sense?". To identify a range of normal structural variations due to environmental and operational conditions, lower and upper bound ECCDFs are used to define the baseline structural state. Such an approach attempts to decouple "non-damage" related variations from damage induced changes, and account for the unknown environmental/operational conditions of the current state. The damage assessment procedure is discussed using numerical simulations of ambient vibration testing of a bridge deck system, as well as shake table experimental data from a 4-story steel frame.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.4
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• pp.887-902
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• 1994

Within the framework of anisotropic thermoelasticity, the problem of an interlaminar crack in a laminated fiber-reinforced composite subjected to a uniform heat flow is investigated. Under a state of generalized plane deformation, dissimilar anisotropic half-spaces with different fiber orientations are considered to be bound together by a matrix interlayer containing the crack. The interlayer models the matrix-rich interlaminar region of the fibrous composite laminate. Based on the flexibility/stiffness matrix approach, formulation of the current crack problem results in having to solve two sets of singular integral equations for temperature and thermal stress analyses. Numerical results are obtained, illustrating the parametric effects of laminate stacking sequence, relative crack size, crack location, crack surface partial insulation, and fiber volume fraction on the values of mixed mode thermal stress intensity factors.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.278-283
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• 1997

This paper proposes a systematic design method for axial(or thrust) magnetic bearings using optimal design methodology. The objective of the optimal design is to minimize bearing volume. The constraints include the bearing load capacity, linearized bearing stiffness and damping, the magnetic flux density, and geometric relations. In order to obtain design values which can be applied to fabrication of bearings, branch and bound method was introduced in the postprocessing procedure of optimal design results. Verification of the proposed design methodology was perfomed by an example.