• Structural Engineering and Mechanics
• /
• v.6 no.1
• /
• pp.41-61
• /
• 1998

A state-of-the-art report on the new finite elements formulated by the addition of nonconforming displacement modes has been presented. The development of a series improved nonconforming finite elements for the analysis of plate and shell structures is described in the first part of this paper. These new plate and shell finite elements are established by the combined use of different improvement schemes such as; the addition of nonconforming modes, the reduced (or selective) integration, and the construction of the substitute shear strain fields. The improvement achieved may be attributable to the fact that the merits of these improvement techniques are merged into the formation of the new elements in a complementary manner. It is shown that the results obtained by the new elements give significantly improved solutions without any serious defects such as; the shear locking, spurious zero energy mode for the linear as well as nonlinear benchmark problems. Recent developments in the transition elements that have a variable number of mid-side nodes and can be effectively used in the adaptive mesh refinement are presented in the second part. Finally, the nonconforming transition flat shell elements with drilling degrees of freedom are also presented.

• Structural Engineering and Mechanics
• /
• v.46 no.2
• /
• pp.153-177
• /
• 2013

Pendulums can be used as passive vibration control devices in several structures and machines. In the present work, the nonlinear behavior of a pendulum-tower system is studied. The tower is modeled as a bar with variable cross-section with concentrated masses. First, the vibration modes and frequencies of the tower are obtained analytically. The primary structure and absorber together constitute a coupled system which is discretized as a two degrees of freedom nonlinear system, using the normalized eigenfunctions and the Rayleigh-Ritz method. The analysis shows the influence of the geometric nonlinearity of the pendulum absorber on the response of the tower. A parametric analysis also shows that, with an appropriate choice of the absorber parameters, a pendulum can decrease the vibration amplitudes of the tower in the main resonance region. The results also show that the pendulum nonlinearity cannot be neglected in this type of problem, leading to multiplicity of solutions, dynamic jumps and instability. In order to improve the effectiveness of the control during the transient response, a hybrid control system is suggested. The added control force is implemented as a non-linear variable stiffness device based on position and velocity feedback. The obtained results show that this strategy of nonlinear control is attractive, has a good potential and can be used to minimize the response of slender structures under various types of excitation.

• Computational Structural Engineering : An International Journal
• /
• v.3 no.1
• /
• pp.1-7
• /
• 2003

For system identification of large structures, it is not practical to identify the entire structure due to the prohibitive computational time and difficulty in numerical convergence. This paper explores the possibility of performing system identification at substructure level, taking advantage of reduction in both the number of unknowns and the number of degrees of freedom involved. Another advantage is that different portions (substructures) of a structural system can be identified independently and even concurrently with parallel computing. Two substructural identification methods are formulated on the basis whether substructural approach is used to obtain first-order or second-order model. For substructural first-order model, identification at the substructure level will be performed by means of the Observer/Kalman filter Identification (OKID) and the Eigensystem Realization Algorithm (ERA) whereas identification at the global level will be performed to obtain second-order model in order to evaluate the system's stiffness and mass parameters. In the case of substructural second-order model, identification will be performed at the substructure level throughout the identification process. The efficiency of the proposed technique is shown by numerical examples for multi-storey shear buildings subjected to random forces, taking into consideration the effects of noisy measurement data. The results indicate that both the proposed methods are effective and efficient for damage identification of large structures.

• International journal of advanced smart convergence
• /
• v.8 no.2
• /
• pp.155-161
• /
• 2019

We introduces a mobile robot that can navigate on a power transmission line arranged in bundled conductors. The designs of the proposed robot are performed for navigation on bundled conductors, and the navigation method for bundled conductors and obstacle avoidance are presented. The robot consists of 13 degrees of freedom (DOF) with a symmetrical structure for the left and right parts, including the four wheel joints. The navigation method is designed using a combination of three motion primitives such as linear motion of counterbalancing box, linear motion of robot arm, and rotational motion of wheel part. To examine the performance of the proposed robot, navigation simulations are conducted using $ADAMS^{TM}$. The robot navigations were simulated on obstacle environments that consisted of two- and four-conductor bundles. Based on the simulation results, the performance of the proposed robot was reviewed through the analysis of the trajectories of end-effectors. We confirmed that the proposed robot was capable of achieving optimal navigation on bundled conductors that included obstacles.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.12
• /
• pp.1193-1200
• /
• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• Smart Structures and Systems
• /
• v.22 no.4
• /
• pp.399-411
• /
• 2018

The difficulty in modeling complex nonlinear structures lies in the presence of significant sources of uncertainties mainly attributed to sudden changes in the structure's behavior caused by regular aging factors or extreme events. Quantifying these uncertainties and accurately representing them within the complex mathematical framework of Structural Health Monitoring (SHM) are significantly essential for system identification and damage detection purposes. This study highlights the importance of uncertainty quantification in SHM frameworks, and presents a comparative analysis between intrusive and non-intrusive techniques in quantifying uncertainties for SHM purposes through two different variations of the Kalman Filter (KF) method, the Ensemble Kalman filter (EnKF) and the Polynomial Chaos Kalman Filter (PCKF). The comparative analysis is based on a numerical example that consists of a four degrees-of-freedom (DOF) system, comprising Bouc-Wen hysteretic behavior and subjected to El-Centro earthquake excitation. The comparison is based on the ability of each technique to quantify the different sources of uncertainty for SHM purposes and to accurately approximate the system state and parameters when compared to the true state with the least computational burden. While the results show that both filters are able to locate the damage in space and time and to accurately estimate the system responses and unknown parameters, the computational cost of PCKF is shown to be less than that of EnKF for a similar level of numerical accuracy.

• Steel and Composite Structures
• /
• v.32 no.5
• /
• pp.657-670
• /
• 2019

This paper proposes a one-dimensional fiber beam element model taking account of materially non-linear behavior, benefiting the highly efficient elastic-plastic analysis of girders with shear-lag effects. Based on the displacement-based fiber beam-column element, two additional degrees of freedom (DOFs) are added into the proposed model to consider the shear-lag warping deformations of the slabs. The new finite element (FE) formulations of the tangent stiffness matrix and resisting force vector are deduced with the variational principle of the minimum potential energy. Then the proposed element is implemented in the OpenSees computational framework as a newly developed element, and the full Newton iteration method is adopted for an iterative solution. The typical materially non-linear behaviors, including the cracking and crushing of concrete, as well as the plasticity of the reinforcement and steel girder, are all considered in the model. The proposed model is applied to several test cases under elastic or plastic loading states and compared with the solutions of theoretical models, tests, and shell/solid refined FE models. The results of these comparisons indicate the accuracy and applicability of the proposed model for the analysis of both concrete box girders and steel-concrete composite girders, under either elastic or plastic states.

• Journal of Advanced Marine Engineering and Technology
• /
• v.25 no.5
• /
• pp.1130-1139
• /
• 2001

Springs are widely utilized in machine element. To find out stiffness of coil spring, the space beam theory using the finite element method is adopted in this paper. In three dimensional space, a space frame element is a straight bar of uniform cross section which is capable of resisting axial forces, bending moments about two principal axes in the plane of its cross section and twisting moment about its centroidal axis. The corresponding displacement degrees of freedom are twelve. The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculated the another increments of nodal displacements, that is, the step by step method is used in this paper. The results of the finite element method are fairly well agreed with those of various experiments. Using MATLAB program developed in this paper, spring constants can be predicted by input of few factors.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2126-2131
• /
• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.27 no.4
• /
• pp.72-82
• /
• 1990

A simple numerical analysis procedure has been proposed to trace the response of unstiffened offshore tubular members subjected to lateral impacts and eventually to estimate the consequential extent of damage. In the procedure a tubular member is reduced to a spring-mass system having two degrees-of-freedom. one for local denting deformation and the other for that of overall bending. Results of impact tests have been correlated with those of numerical analysis in order to achieve an empirical representation of the strain-rate sensitivity and other dynamic effects upon the spring coefficient for bending deformation. The theoretical estimates of extents of damage correlate reasonably well with those obtained in experiments.