• Structural Engineering and Mechanics
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• 제62권5호
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제42권
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• pp.11.1-11.8
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• 2020

Background: The purpose of this study is to compare the skeletal stability of two-jaw surgery via surgery-first approach with conventional two-jaw surgery in facial asymmetry patients by measuring the skeletal changes after surgery from a three-dimensional analysis. From January 2010 to January 2014, 40 patients with facial asymmetry who underwent two-jaw surgery in Pusan National University Hospital were included in this study. They were classified into experimental group (n = 20) who underwent two-jaw surgery via surgery-first approach and control group (n = 20) who underwent conventional two-jaw surgery. After selection of 24 landmarks and the construction of horizontal and sagittal, coronal reference planes, changes in 10 linear measurements and 2 angular measurements were compared between the surgery-first approach and conventional groups in the preoperative, immediate postoperative, and postoperative periods. The paired t test and Student t test were used for statistical analysis. The mean and standard deviation of the measurement were calculated for the experimental and control groups. Results: The statistical analysis showed that changes in skeletal measurements were similar between the surgery-first approach and conventional groups, according to each period. However, U1-SRP measurement showed statistically significant changes in surgery-first approach groups at postsurgical change (T1 to T2). Also, the mean treatment duration in the treatment group was 15.9 ± 5.48 months whereas that in the control group was 32.9 ± 14.05 months. Conclusion: In facial asymmetry patients, similar results were observed in the postoperative skeletal stability when 2-jaw surgery via surgery-first approach was compared with conventional 2-jaw surgery. However, significant lateral deviation of upper incisor midline was observed. In addition, a shorter average treatment duration was observed. To stabilize the unstable occlusion after surgery, increased wearing of the stent and proactive rubber guidance will be needed.

• Imaging Science in Dentistry
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• 제54권2호
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• pp.181-190
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• 2024

Purpose: This study compared sequential changes in skeletal stability and the pharyngeal airway following mandibular setback surgery involving fixation with either a titanium or a bioabsorbable plate and screws. Materials and Methods: Twenty-eight patients with mandibular prognathism undergoing bilateral sagittal split osteotomy by titanium or bioabsorbable fixation were randomly selected in this study. Lateral cephalometric analysis was conducted preoperatively and at 1 week, 3-6 months, and 1 year postoperatively. Mandibular stability was assessed by examining horizontal (BX), vertical (BY), and angular measurements including the sella-nasion to point B angle and the mandibular plane angle (MPA). Pharyngeal airway changes were evaluated by analyzing the nasopharynx, uvula-pharynx, tongue-pharynx, and epiglottis-pharynx (EOP) distances. Mandibular and pharyngeal airway changes were examined sequentially. To evaluate postoperative changes within groups, the Wilcoxon signed-rank test was employed, while the Mann-Whitney U test was used for between-group comparisons. Immediate postoperative changes in the airway were correlated to surgical movements using the Spearman rank test. Results: Significant changes in the MPA were observed in both the titanium and bioabsorbable groups at 3-6 months post-surgery, with significance persisting in the bioabsorbable group at 1 year postoperatively (2.29°±2.28°; P<0.05). The bioabsorbable group also exhibited significant EOP changes (-1.21±1.54 mm; P<0.05) at 3-6 months, which gradually returned to non-significant levels by 1 year postoperatively. Conclusion: Osteofixation using bioabsorbable plates and screws is comparable to that achieved with titanium in long-term skeletal stability and maintaining pharyngeal airway dimensions. However, a tendency for relapse exists, especially regarding the MPA.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.531-536
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• 2006

In four cylinder engine, the second order inertia force occurs due to the reciprocating parts of the cylinder. Because the magnitude of the inertia force is proportional to a square of the angular velocity of crank shaft, engine gets suffered from vibration excited by unbalanced inertia force in high speed. This vibration excited by the unbalanced inertia force can be canceled by applying a balance shaft. Balance shaft has one or more unbalance mass and rotates twice quickly than the crank shaft. In this paper, an unbalanced force caused by the rotating of unbalance mass of balance shafts was calculated. The directional equivalent stiffness and damping coefficients of the journal bearing of balance shafts was calculated. Equations of rotational vibration modes were derived using directional stiffness and damping coefficients. The dynamic stability of balance shafts was analyzed and evaluated for two type models using the equivalent stiffness and damping coefficients. An efficient procedure to he able to evaluate dynamic stability and design optimal balance shaft was proposed.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1439-1450
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• 2013

This paper investigates a robust neuro-fuzzy control (NFC) method which can accurately follow the speed reference of an interior permanent magnet synchronous motor (IPMSM) in the existence of nonlinearities and system uncertainties. A neuro-fuzzy control term is proposed to estimate these nonlinear and uncertain factors, therefore, this difficulty is completely solved. To make the global stability analysis simple and systematic, the time derivative of the quadratic Lyapunov function is selected as the cost function to be minimized. Moreover, the design procedure of the online self-tuning algorithm is comparatively simplified to reduce a computational burden of the NFC. Next, a rotor angular acceleration is obtained through the disturbance observer. The proposed observer-based NFC strategy can achieve better control performance (i.e., less steady-state error, less sensitivity) than the feedback linearization control method even when there exist some uncertainties in the electrical and mechanical parameters. Finally, the validity of the proposed neuro-fuzzy speed controller is confirmed through simulation and experimental studies on a prototype IPMSM drive system with a TMS320F28335 DSP.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2038-2046
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• 1997

In this paper the instability of the system which has a disk and a mass-spring-damper system interacting through a medium having stiffness and damping is analyzed. To solve the equations of motion of this systme, it is assumed that the solution consists of the eigenfunctions which are the products of the Bessel functions and sine or cosine functions. The former represents the radial characteristics of the disk and the latter represents the circumferential characteristics. Using this assumed solution and the orthogonality of the eigenfunctions, the equations of motion can be transformed into a set of equations of motion with variables dependent only on the time. After this set is changed to the state equation, the eigenvalue problem can be made. Once the eigenvalues are calculated according to the angular velocity of the disk, the dynamic characteristics ofthis system is obtained. Because the thickness of the disk and the element characteristics of the mass-spring-damper system have important effects on the stability of the system, it will be understood how these factors affect the system and then a method to ameliorate the stability of the system with a disk will be presented.

• Nuclear Engineering and Technology
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• 제27권5호
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• pp.661-669
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• 1995

원자력시설에서 점검 및 보수작업을 위하여 이동로보트 KAEROT을 개발하였다. 이동로보트의 주행장치는 소차륜들이 부착된 유성차륜의 형태로 구성되어 높은 안정성을 유지하며 계단을 포함한 많은 장애물의 승하강이 가능하도록 설계하였다 본 논문에서는 로보트의 원격조작을 용이하게 하기 위하여 이동로보트의 기구학적 해석을 통하여 역기구학 해를 구하였고, 자동 계단승월 알고리즘을 제안하였다. 제안된 알고리즘은 이동경로를 결정한 후 제안된 기준경로를 추종할 수 있도록 각 차륜의 각속도를 구하는 것이다. 제작 오차가 있는 실험실내 계단에 대하여 시뮬레이션 및 실험을 수행하였다. 제안된 알고리즘은 로보트 몸체의 경사각도를 낮게 유지시킬 수 있었고, 주행중 안정성을 높혀주었다.

• 대한치과교정학회지
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• 제20권3호
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• pp.565-581
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• 1990

This study was undertaken to investigate the degree of asymmetry in each part of the head in skeletal craniofacial asymmetric patients, and secondarily to determine the nature of difference existed between asymmetric patients and normal persons. The subjects consisted of 49 asymmetric adult patients and 52 normal adults, and the average ages were 21 years 5 months and 23 years 5 months, respectively. The computerized analyses of 33 linear measurements, 12 angular measurements, and 8 surface areas from posteroanterior cephalometric radiograph were carried out. The conclusions were as follows; 1. Asymmetry was a common finding in both normal and asymmetric group. 2. When the analyses were undertaken after the head was divided into 3 parts anteroposteriorly and superoinferiorly in the asymmetric patients, there were significant asymmetries in all parts excepts in the cranial base region. 3. When the analyses were undertaken after the head was divided into respective 3 parts anteroposteriorly in the asymmetric patients, the more posterior part showed relative stability than the more anterior part. 4. When the analyses were undertaken after the head was divided into 3 parts superoinferiorly in the asymmetric patients, the more superior part showed relative stability than the more inferior part. 5. Twelve variables indicating asymmetry were selected and the highest ranked variable was Me-Mid-sagittal reference line.

• 천문학회보
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• 제39권1호
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• pp.37.2-37.2
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• 2014

Gas in disk galaxies interacts nonlinearly with a underlying stellar spiral potential to form galactic spiral shocks. Numerical simulations typically show that these shocks are unstable to the wiggle instability, forming non-axisymmetric structures with high vorticity. While previous studies suggested that the wiggle instability may arise from the Kelvin-Helmholtz instability or orbit crowding of gas elements near the shock, its physical nature remains uncertain. It was even argued that the wiggle instability is of numerical origin, caused by the inability of a numerical code to resolve a shock that is inclined to numerical grids. In this work, we perform a normal-mode linear stability analysis of galactic spiral shocks as a boundary-value problem. We find that the wiggle instability originates physically from the potential vorticity generation at a distorted shock front. As the gas follows galaxy rotation, it periodically passes through multiple shocks, successively increasing its potential vorticity. This sets up a normal-mode that grows exponentially, with a growth rate comparable to the orbital angular frequency. We show that the results of our linear stability analysis are in good agreement with the those of local hydrodynamic simulations of the wiggle instability.

• 전산구조공학
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• 제7권3호
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• pp.83-93
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• 1994

도로 안전 구조물을 설계하고 동적 퍼포먼스를 측정하기 위하여 시행되는 충돌시험시 충돌차량의 운동량, 특히 각가속도를 Euler방정식의 수치적분을 통하여 구하는 기법을 설명하였다. 수치적으로 가장 안정적인 9-array 시스템안에 내지된 여러 형태의 7,8-array 서브시스템들의 시스템 미분방정식 및 이들 방정식의 수치 적분시 안정성을 실험데이터를 이용하여 파악하였다. 기본적인 9-array안에 있는 6개의 8-array시스템들은 모두 수치적으로 안정성을 보였고 12개의 7-array시스템들중 6개는 안정성을 보이고 6개는 불안정하였다. 안정성을 보이는 내재된 서브시스템을 활용하면 기본 9-array시스템을 구성하는 센서의 일부 고장시 효과적으로 각가속도를 측정할 수 있는 fail-safe 시스템을 구성할 수 있다.