• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권3호
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• pp.246-252
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• 2005

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.145-149
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• 1997

General joystick using spring only has a vibration when operaor drops the joystick. If it is used as input of motorized wheelchair, its system have a serious problem which operator fall into dangerous situation. Therefore, In this paper proposed non-vibration joustick which control a motorized wheelchair. Non-vibration joystick was designed which return to origin point when operator drops joystick by mistake. Reflected force of non- vibration joystick is defined as addition displacement and variation rate. And each parameter has elasticity of spring and viscosity of DC servo motor. Through simulation for virtual environment, we found two coefficient to return origin point smoothly when a disabled person drops the joystick. In case of larger elastic coefficient of spring than viscous coefficient, we confirmed the result has the equal vibration of general joystick (under-damping). In opposite case, joystick returned to origin point with excessive force. As a application of non-vibration joystick, we experimented wall-following controlling. In this trial, we corroborated that joystick follows smoothly around the corridors.

• Coupled systems mechanics
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• 제4권4호
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• pp.279-295
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• 2015

The article presents a theoretical-experimental approach developed for modeling the coefficient of sliding friction in the dynamic system tool-workpiece in slide diamond burnishing of low-alloy unhardened steels. The experimental setup, implemented on conventional lathe, includes a specially designed device, with a straight cantilever beam as body. The beam is simultaneously loaded by bending (from transverse slide friction force) and compression (from longitudinal burnishing force), which is a reason for geometrical nonlinearity. A method, based on the idea of separation of the variables (time and metric) before establishing the differential equation of motion, has been applied for dynamic modeling of the beam elastic curve. Between the longitudinal (burnishing force) and transverse (slide friction force) forces exists a correlation defined by Coulomb's law of sliding friction. On this basis, an analytical relationship between the beam deflection and the sought friction coefficient has been obtained. In order to measure the deflection of the beam, strain gauges connected in a "full bridge" type of circuit are used. A flexible adhesive is selected, which provides an opportunity for dynamic measurements through the constructed measuring system. The signal is proportional to the beam deflection and is fed to the analog input of USB DAQ board, from where the signal enters in a purposely created virtual instrument which is developed by means of Labview. The basic characteristic of the virtual instrument is the ability to record and visualize in a real time the measured deflection. The signal sampling frequency is chosen in accordance with Nyquist-Shannon sampling theorem. In order to obtain a regression model of the friction coefficient with the participation of the diamond burnishing process parameters, an experimental design with 55 experimental points is synthesized. A regression analysis and analysis of variance have been carried out. The influence of the factors on the friction coefficient is established using sections of the hyper-surface of the friction coefficient model with the hyper-planes.

• International Journal of Aeronautical and Space Sciences
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• 제2권2호
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• pp.65-72
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• 2001

This paper demonstrates an explicit-implicit, finite element analysis for linear as well as nonlinear hygrothermal stress problems. Additional features, such as moisture diffusion equation, crack element and virtual crack extension(VCE) method for evaluating J-integral are implemented in this program. The Linear Elastic Fracture Mechanics(LEFM) Theory is employed to estimate the crack driving force under the transient condition for an existing crack. Pores in materials are assumed to be saturated with moisture in the liquid form at the room temperature, which may vaporize as the temperature increases. The vaporization effects on the crack driving force are also studied. The ideal gas equation is employed to estimate the thermodynamic pressure due to vaporization at each time step after solving basic nodal values. A set of field equations governing the time dependent response of porous media are derived from balance laws based on the mixture theory. Darcy's law is assumed for the fluid flow through the porous media. Perzyna's viscoplastic model incorporating the Von-Mises yield criterion are implemented. The Green-Naghdi stress rate is used for the invariant of stress tensor under superposed rigid body motion. Isotropic elements are used for the spatial discretization and an iterative scheme based on the full Newton-Raphson method is used for solving the nonlinear governing equations.

• Structural Engineering and Mechanics
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• 제70권5호
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• pp.623-637
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• 2019

This paper analyzes the non-stationary vibration and super-harmonic resonances in nonlinear dynamic motion of viscoelastic nano-resonators. For this purpose, a new coupled size-dependent model is developed for a plate-shape nano-resonator made of nonlinear viscoelastic material based on modified coupled stress theory. The virtual work induced by viscous forces obtained in the framework of the Leaderman integral for the size-independent and size-dependent stress tensors. With incorporating the size-dependent potential energy, kinetic energy, and an external excitation force work based on Hamilton's principle, the viscous work equation is balanced. The resulting size-dependent viscoelastically coupled equations are solved using the expansion theory, Galerkin method and the fourth-order Runge-Kutta technique. The Hilbert-Huang transform is performed to examine the effects of the viscoelastic parameter and initial excitation values on the nanosystem free vibration. Furthermore, the secondary resonance due to the super-harmonic motions are examined in the form of frequency response, force response, Poincare map, phase portrait and fast Fourier transforms. The results show that the vibration of viscoelastic nanosystem is non-stationary at higher excitation values unlike the elastic ones. In addition, ignoring the small-size effects shifts the secondary resonance, significantly.

• 대한토목학회논문집
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• 제8권2호
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• pp.13-24
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• 1988

본(本) 논문(論文)은 평면(平面)뼈대 구조물(構造物)의 동적(動的) 후좌굴(後座屈) 거동(擧動)을 파악(把握)하기 위하여 기하적(幾何的)인 비선형(非線型) 유한요소법(有限要素法)을 제시(提示)한다. 이를 위하여 3차원(次元) 연속체(連續體)에 대한 가상(假想)일의 원리(原理)에 배루누이-오일러 가정을 도입하므로서, 평면(平面)뼈대에 대한 탄성강도(彈性剛度)매트릭스, 기하적(幾何的)인 강도(剛度)매트릭스 그리고 질량(質量)매트릭스들을 유도한다. circulatory force를 받는 경우에는 circulatory discrete joint load와 circulatory distributed load에 대한 load correction stiffness matrix를 유도하므로써 이러한 하중을 받는 구조물(構造物)의 접선강도(接線剛度)매트릭스는 비대칭 행렬임을 보인다. 유도된 비선형(非線型) 운동방정식(運動方程式)의 해(解)는 Newton-Raphson 방법(方法) 및 Newmark 방법(方法)을 사용(便用)하여 구한다.

• 인터넷정보학회논문지
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• 제15권1호
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• pp.171-178
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• 2014

본 논문에서는 실시간으로 가상현실의 증강객체에 외부의 힘이 작용할 때 증강된 가상 객체의 동적 모델링 방법을 제시하였다. 가상객체의 자연스러운 움직임을 시뮬레이션 하기 위하여 AR 객체에 적용되는 외부의 힘의 변화에 대하여 Newton의 운동법칙을 적용하여 객체의 움직임을 설명하는 식을 생성하였다. 동적 모델링 과정에서 증강된 객체와 햅틱 장비간의 실질적 상호작용이 발생하며 이때 외부의 힘이 가상객체에 전달된다. 증강된 객체의 고유특성은 강체 혹은 탄성체의 성질을 갖는 모델이다. 강체의 동적 모델링에서는 선형 모멘텀과 각속도 모멘텀을 모두 고려하여 증강된 객체와 햅틱 스틱이 충돌할 때 수행하였다. 비강체의 동적 모델링에 있어서는 탄성체의 변형 모델은 내외의 힘과 제한요소에 자연적으로 반응하기 때문에 물리기반 시뮬레이션 방법을 적용하였다. 증강된 탄성체는 햅틱 인터페이스를 통해 사용자에 의하여 발생하는 힘의 특성과 모델의 고유 특성에 따라 자연스럽게 변형된다. 변형 물체의 모델링을 위하여 Newton의 제 2 운동법칙이라 불리는 질량-스프링 연결 시스템을 적용하였다. 실험을 통하여 증강된 강체와 비강체의 성질을 지닌 가상 객체에 햅틱 장비에 의한 햅틱 상호작용이 발생 할 때 객체의 변환을 자연스럽게 가시화 할 수 있었다.

• 한국안전학회지
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• 제11권4호
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• pp.143-150
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• 1996

본 연구는 선형, 비선형 hygrothermal 응력 문제를 위한 explicit-Implicit 유한요소 해석 모델 개발에 관한 것이다. 부가적으로 moilsture 확산 방정식, J-적분 평가를 위한 균열 요소 및 가상 균열 진전법이 도입된다. 시간 변화에 따른 균열 추진력을 계산하기 위하여 선형 탄성 파괴 역학(LEFM)이론이 고려되며 재료의 기공은 실온에서 액체 상태의 습기로 포화되어 있으며 온도가 상승함에 따라 증기화된다는 가정하에서 균열 추진력과 증기 효과의 관계가 연구된다. 이상 기체방정식은 각 시간 단계에서 증기에 의한 열역학적 압력을 계산하기 위하여 이용된다. 다공질 재료의 시간 종속 응답을 지배하는 방정식들은 혼합이론에 기초하며 다공질 재료의 유체 흐름을 위한 Darcy의 법칙과 Von-Mises 항복 기준을 포함하고 있는 Perzyna의 점소성 모델이 첨가된다. 또한 Green-Naghdi 응력률이 중첩된 강체 운동하에서 응력 텐서 invariant로 사용되며, 모델링을 위하여 사각요소가 이용되고 비선형 지배 방정식을 풀기 위하여 full Newton-Raphson법에 의한 반복법이 사용된다. 본 연구를 통하여 얻은 결과는 다음과 같다. 1) 본 유한요소 프로그램은 복합재의 hygrothermal 파괴 해석에 매우 유용하게 적용될 수 있다. 2) 습기의 온도에 의한 영향을 가지는 재료의 J-적분을 정확히 예측하기 위하여는 증기 효과를 고려하여야 한다. 왜냐하면 초기단계에 균열 전파력이 가속되기 때문이다. 3) 본 해석을 위해 Uncoupled scheme에 의한 결과도 Coupled scheme에 결과에 비해 아주 타당하므로 CPU 측면에서 매우 경제적인 Uncoupled scheme이 추천된다.