• Structural Engineering and Mechanics
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• 제8권6호
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• pp.579-589
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• 1999

A new way to reduce the eigenvalue computation effort in structural dynamics is presented in this paper. The degrees of freedom of a structure may be classified into groups that are termed as sub-degrees of freedom. The eigenvalue analysis is performed with each of sub-degrees of freedom so that the computing time is much shortened. Since the dynamic coupling between sub-degrees of freedom is selected to be small and it may be considered as a perturbation, the perturbation algorithm is used to obtain an accuratae result. The accuracy of perturbation depends on the coupling between sub-degrees of freedom. The weaker the coupling is, the more accurate the result is. The procedure can be used to simplify a problem of three dimensions to that of two dimensions or from two dimensions to one dimension. The application to a truss and a space frame is shown in the paper.

• Structural Monitoring and Maintenance
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• 제7권2호
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• pp.125-147
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• 2020

Damage detection of structures is one of the most important topics in structural health monitoring. In practice, the response is not available at all structural degrees of freedom, and due to the installation of sensors at some degrees of freedom, responses exist only in limited number of degrees of freedom. This paper is investigated the damage detection of structures by applying two approaches, AllDOF and Dynamic Condensation Method (DCM), based on the Modified Modal Strain Energy Method (MMSEBI). In the AllDOF method, mode shapes in all degrees of freedom is available, but in the DCM the mode shapes only in some degrees of freedom are available. Therefore by methods like the DCM, mode shapes are obtained in slave degrees of freedom. So, in the first step, the responses at slave degrees of freedom extracted using the responses at master degrees of freedom. Then, using the reconstructed mode shape and obtaining the modified modal strain energy, the damages are detected. Two standard examples are used in different damage cases to evaluate the accuracy of the mentioned method. The results showed the capability of the DCM is acceptable for low mode shapes to detect the damage in structures. By increasing the number of modes, the AllDOF method identifies the locations of the damage more accurately.

• Structural Engineering and Mechanics
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• 제4권5호
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• pp.569-586
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• 1996

A new three-dimensional 8-node solid element with rotational degrees of freedom is presented. The proposed element is established by adding rotational degrees of freedom to the basic 8-node solid element. Thus the element has three translations and three rotational degrees of freedom per node. The corner rotations are introduced by transforming the hierarchical mid-edge displacements which are parabolic shape along an edge. The derivation of the element is based on the mixed variational principles in which the rotations are introduced as independent variables. Several types of non-conforming modes are selectively added to the displacement fields to obtain a series of improved elements. The resulting elements do not have the spurious zero energy modes and Poisson's ratio locking and pass patch test. Numerical examples show that presented non-conforming solid elements with rotational degrees of freedom show good performance even in the highly distorted meshes.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1995년도 가을 학술발표회 논문집
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• pp.161-168
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• 1995

The variable-node solid element with rotational degrees of freedom has been developed far efficient connection of transition zones and far connection of different types of elements with rotational degrees of freedom. In applying this new element to engineering problems, it is necessary to fine the relations between tractions and equivalent nodal farces. In this case, the equivalent forces in solid element with rotational degrees of freedom and ratational forces are a bit different from that af conventional solid elements. Some typical examples are presented.

• 한국컴퓨터그래픽스학회논문지
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• 제2권2호
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• pp.53-60
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• 1996

3차원 그래픽스 인터페이스에 있어서 객체 및 가상 카메라 제어의 문제는 운동학이나 역운동학의 문제로 해석할 수 있다. 역운동학에서 잉여자유도가 많으면 singularity가 빈번하게 발생한다는 사실이 잘 알려져 있다. 본 연구에서는 잉여자유도를 줄이는 관점에서 3차원 그래픽스 인터페이스의 문제를 재조명하고 이에 대한 부분적인 해결방안을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1428-1431
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• 1996

This paper proposes an anti-swing control law for a 2 degrees of freedom overhead crane. The dynamic model of a 2 degrees of freedom crane is highly nonlinear and coupled. The model is linearized and decoupled for each degree of freedom of the crane for small motions of the load about the vertical. Then a decoupled anti-swing control law is designed for each degree of freedom of the crane based on the linearized model. The control law consists of a position control loop and an swing angle control loop. The position loop,. is designed based on the loop shaping method and the swing angle loop is designed via the root locus method. Finally, the proposed anti-swing control law is implemented and evaluated on a 2 degrees of freedom prototype crane.

• 대한인간공학회지
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• 제15권2호
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• pp.15-24
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• 1996

To generate workspace analytically using the robot kinematics, data on range of human joints motion, especially range of two degrees of freedom motion, are needed. However, these data have not been investigated up to now. Therefore, in this research, we are to investigate an interaction effect of motions with two degrees of freedom occurred simultaneously at the shoulder, virtual hip(L5/S1) and hip joints, respectively, for 47 young male students. When motion with two degrees of freedom occurred at a joint such as shoulder, virtual hip and hip joints, it was found from the results of ANOVA that the action of a degree of freedom motion may either decrease or increase the effective functioning of the other degree of freedom motion. In other words, the shoulder flexion was decreased as the shoulder was adducted or abducted to $60^{\circ}C$TEX>or abducted from $60^{\circ}C$TEX>to maximum degree of abduction, while the shoulder flexion increased as the joint was abducted from $60^{\circ}C$TEX> to $60^{\circ}C$TEX> The flexion was decreased as the virtual hip was bent laterally at the virtual hip joint, and also did as the hip was adducted or abducted from the neutral position. It is expected that workspace can be generated more precisely based the data on the range of two degrees of joint motion measured in this study.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.213-216
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• 1996

This paper studies a class of in-parallel manipulators with special geometry where the forward displacement analysis problem can be solved easier than the fully parallel manipulators. Three horizontal links of this mechanism provide 3DOFs(Degrees of Freedom), which are one degree of orientational freedom and two degrees of translatory freedom. Three vertical links of this mechanism provide 3DOFs, which are two degrees of orientational freedom and one degree of translatory freedom. The main advantages of this manipulator, compared with the Stewart platform type, are the capability to produce pure rotation and to predict the motion of the moving platform easily. Since this manipulator has simple kinematic characteristics compared with the Stewart platform, controlling in real-time is possible due to less computational burden. The purpose of this investigation is to develope an analytical method and systematic method to analyze the basic kinematics of the manipulator. The basic kinematic equations of the manipulator are derived and simulation is carried out to show the performance of the mechanism.

• 대한산업공학회지
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• 제23권1호
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• pp.147-162
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• 1997

When designing workplaces or arranging controls on panel, devices and controls should be placed within the reach of operator's arm or foot to guarantee effective performances. Most of the existing research on the reach volume were based on measurements of a few subject's arm reach, and limited to Caucasian and Chinese populations. Furthermore, reach volume considering foot or trunk motion have not been investigated. Range of human joint motion and that of two degrees of freedom motion are needed to generate reach volume analytically using the sweeping algorithm. However, range of two degrees of freedom motion has not been measured up to now. Therefore, range of two degrees of freedom motion was measured in this research, where 47 college students were participated voluntarily as subjects. The results showed that the motion of one joint can be limited by the motion of another motion, that is to say, the shoulder flexion was decreased significantly when the shoulder was adducted or abducted. Second, new approximate algorithms generating reach volumes were suggested, in which range of two degrees of freedom motion was used as input data. Depending upon the body segment included such as trunk, arm and leg, three types of reach volume were provided, in which the human body was modeled as a multilink system based on the robot kinematics and the sweeping method was employed. Reach volume generated analytically in this study showed statistically reasonable results when compared with that obtained from direct measurement.

• 통합자연과학논문집
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• 제14권3호
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• pp.123-129
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• 2021

This research examines the effect of positively skewed population distribution on the two sample t-test through simulation. For simulation work, two independent samples were selected from the same chi-square distributions with 3, 5, 10, 15, 20, 30 degrees of freedom and sample sizes 3, 5, 10, 15, 20, 30, respectively. Chi-square distribution is largely skewed to the right at small degrees of freedom and getting symmetric as the degrees of freedom increase. Simulation results show that the sampled populations are distributed positively skewed like chi-square distribution with small degrees of freedom, the F-test for the equality of variances shows poor performances even at the relatively large degrees of freedom and sample sizes like 30 for both, and so it is recommended to avoid using F-test. When two population variances are equal, the skewness of population distribution does not affect on the t-test in terms of the confidence level. However even though for the highly positively skewed distribution and small sample sizes like three or five the t-test achieved the nominal confidence level, the error limits are very large at small sample size. Therefore, if the sampled population is expected to be highly skewed to the right, it will be recommended to use relatively large sample size, at least 20.