• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.580-583
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• 2002

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

• Steel and Composite Structures
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• 제43권2호
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• pp.185-200
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• 2022

A Closed-form solution for dynamic response of a functionally graded (FG) nonlocal nanobeam due to action of moving harmonic load is presented in this paper. Due to analyzing in small scale, a nonlocal elasticity theory is utilized. The governing equation and boundary conditions are derived based on the Euler-Bernoulli beam theory and Hamilton's principle. The material properties vary through the thickness direction. The harmonic moving load is modeled by Delta function and the FG nanobeam is simply supported. Using the Laplace transform the dynamic response is obtained. The effect of important parameters such as excitation frequency, the velocity of the moving load, the power index law of FG material and the nonlocal parameter is analyzed. To validate, the results were compared with previous literature, which showed an excellent agreement.

• 한국터널지하공간학회 논문집
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• 제4권3호
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• pp.175-184
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• 2002

일반적으로 터널 굴착시 지보재의 설치시기에 대한 예측을 위하여서는 지반반응곡선 (Ground reaction curve)을 활용하고 있다. 이 지반반응곡선은 굴착에 따른 지반의 변위 특성을 나타내며, 일반적으로 원형단면이고 등방상태 (K = 1.0)로 가정하여 단순화시킨 Closed Form Solution을 통해서 구해진다. 그러나, 원형단면이 아니고, 비등방 응력상태인 실질적인 현장조건을 고려해 본다면, 이 지반반응특성 예측식을 현장조건에 적용함에 있어서 어떠한 한계점을 갖는지에 대하여 규명할 필요가 있다. 이를 위해, 본 논문에서는 굴착단면 형상에 따른 측벽에서의 초기탄성변위 및 임계지보압의 변화 특성에 대하여 연구하였다. 터널굴착 형상은 단면의 높이 (b)와 폭 (a)의 비, 즉 굴착형상 계수 S (=b/a)값이 1.0, 0.8, 0.6, 0.4로 변화하도록 하였으며, 각각의 굴착형상마다 초기등방응력을 5~30 MPa사이에서 변화시켜가면서 수치해석을 통해 지반반응곡선을 얻었다. 수치해석을 통해 얻어진 측벽에서의 지반반응곡선을 분석하여 그에 따른 특성을 제시하였다. 검토결과 지반의 자립성을 평가하는데 있어서 Closed form solution의 사용에는 한계가 있는 것으로 판단된다.

• ETRI Journal
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• 제11권4호
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• pp.98-104
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• 1989

Closed form solution of nonlinear 2-DEG concentration formula is proposed. This allows us to model continuous 2-DEG charge concentration as the function of gate voltage covering subthreshold region of the I-V curves. Comparisons of the Ids-Vgs characteristics and transconductance with the measured data were performed to show the accuracy of the proposed model. This way we have completely closed form I-V characteristics in subthreshold, triode and saturation region incorporating accurate charge control mechanism for HEMTs.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.603-608
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• 2007

In the conventional AOA(angle-of-arrival) positioning utilizing reverse-link wireless channel, each sensor should be equipped with an array antenna to measure the incident angle of signal transmitting from a tag. To perform the complicated signal processing for angle measurements, sensor size and its power consumption will be large. In some applications like mobile robot location, there exists no strict restriction in tag size or in power consumption. Rather, it is desirable that the sensor would be as small as possible. This paper presents a new AOA positioning method utilizing forward-link channel. Under the assumption that the mobile robot is operating on the flat surface, the measurement model for FLAOA(tiJrward-link AOA) is derived first. Two kinds of position estimation algorithms using FLAOA measurements are proposed; Gauss-Newton method and closed-fonn solution method. With the proposed methods, we can ohtain the attitude of robot as well as its position. Positioning performance of proposed methods is compared by computer simulation. Simulation results show that the closed-form solution method using FLAOA measurements is suitable for indoor robot positioning.

• 한국정밀공학회지
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• 제22권8호
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• pp.118-127
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• 2005

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.363-368
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• 1995

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

• Computers and Concrete
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• 제2권1호
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• pp.55-77
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• 2005

The closed form solution of the equilibrium equations in the ultimate design of reinforced concrete sections under biaxial bending is presented. The stresses in the materials are described by the Model Code 1990 equations. Computation of the integral equations is performed generally in terms of all variables. The deformed shape of the section in the ultimate conditions is defined by Heaviside functions. The procedure is convenient for the use of mathematical manipulation programs and the results are easily included into nonlinear analysis codes. The equations developed for rectangular sections can be applied for other sections, such as T, L, I for instance, by decomposition into rectangles. Numerical examples of the developed model for rectangular sections and composed sections are included.

• Structural Engineering and Mechanics
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• 제20권1호
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• pp.45-67
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• 2005

This paper presents a new approach to predict the racking load-displacement response of plasterboard clad walls found in Australian light-framed residential structures under monotonic racking load. The method is based on a closed-form mathematical model, described herein as the 'Modularised' Closed-Form Mathematical model or MCFM model. The model considers the non-linear behaviour of the connections between the plasterboard cladding and frame. Furthermore, the model is flexible as it enables incorporation of different nailing patterns for the cladding. Another feature of this model is that the shape of stud deformation is not assumed to be a specific function, but it is computed based on the strain energy approach to take account of the actual load deformation characteristics of particular walls. Verification of the model against the results obtained from a detailed Finite Element (FE) model is also reported. Very good agreement between the closed form solution and that of the FE model was achieved.

• 한국전산구조공학회논문집
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• 제24권4호
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• pp.457-462
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• 2011

본 논문은 지진응답을 제어하기 위해 다층 건물에 설치된 마찰감쇠기의 간단한 설계절차를 제안하였다. 마찰감쇠기는 비선형성이 강하므로 마찰감쇠기가 설치된 건물의 제어효과를 파악하는 것은 어렵다. 마찰감쇠기의 제어력은 층간속도에 영향을 받으므로, 인접한 모드가 서로 연계된다. 따라서 응답은 공진일 때 안정상태응답으로 가정하여 유도하였다. 첫째로 지진하중에 대한 정해응답을 구하는 것은 불가능하므로 조화가진을 받을 때의 근사해를 유도하였다. 둘째, 다층 건물을 단자유도로 변환하기 위해서 모드해석이 수행되었다. 셋째, 근사해를 이용하여 등가감쇠비를 유도하였다. 그리고 등가감쇠비를 이용하여 응답감소계수를 제안하였다. 마지막으로, 마찰감쇠기의 마찰력을 응답감소계수에 의해 설계하고 설계된 감쇠기를 7개의 지진파를 통해 검증하였다. 비선형해석 결과가 제안된 절차의 유효성을 확인하였다.