• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.11a
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• pp.99-107
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• 2000

With the results of calculation for natural frequencies, the forced reponses of coupled vibration of propulsion shafting were analysed by the modal analysis method. For the forced response analysis, axial exciting forces, axial damper/detuner, propeller exciting forces and damping coefficients were extensively investigated. As the conclusion of this study, some items are cleared as next. - The torsional amplitudes are not influenced by the radial excitation forces. - The axial vibrational amplitudes are influenced by the tangential exciting forces. An increase of amplitude is observed for the speed range in the neighbourhood of any torsional critical speed. - The coupling effect becomes larger if torsional and axial critical speed are closer together. - The axial exciting force of propeller is relatively strong, comparing with those of axial forces of cylinder gas pressure and oscillating inertia of reciprocating mechanism. Therefore, as a resume one can say, that- Torsional vibration calculation with the classical one dimension model is still valid. - The influence of torsional excitation at each crank upon the axial vibration is impotent, especially in the neighbourhood of a torsional critical speed. That means that the calculation of axial vibration with the classical one dimension model is insufficient in most of cases. - The torsional exciting torque of propeller can be neglected in most of cases. But, the axial exciting forces of propeller can not be neglected for calculating axial vibration of propulsion shafting.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1139-1148
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• 2006

This paper addresses the analytical modeling and dynamic response of the advanced composite rotating blade modeled as thin-walled beams and incorporating viscoelastic material. The blade model incorporates non-classical features such as anisotropy, transverse shear, rotary inertia and includes the centrifugal and coriolis force fields. The dual technology including structural tailoring and passive damping technology is implemented in order to enhance the vibrational characteristics of the blade. Whereas structural tailoring methodology uses the directionality properties of advanced composite materials, the passive material technology exploits the damping capabilities of viscoelastic material (VEM) embedded into the host structure. The VEM layer damping treatment is modeled by using the Golla-Hughes-McTavish (GHM) method, which is employed to account for the frequency-dependent characteristics of the VEM. The case of VEM spread over the entire span of the structure is considered. The displayed numerical results provide a comprehensive picture of the synergistic implications of both techniques, namely, the tailoring and damping technology on the dynamic response of a rotating thin-walled b ε am exposed to external time-dependent excitations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1840-1848
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• 2003

This paper presents the structural analysis and optimum design of a vertical micro-gyroscope with decoupled 2 degrees of freedom (DOF), driven by electrostatic force. Simplified beam models were presented to derive the structural stiffness of the driving spring of the U shape and the sensing spring of I shape. A finite element analysis (FEA) was performed to validate each derivation. A total mass and a polar mass moment of inertia were also obtained and used in calculating the resonance frequency at each mode of the 2 DOF. The resonance frequencies of the total system were calculated using the proposed models and it has been found that they were in excellent agreement with those of the FEA. Finally, the developed analysis program was then linked to an optimum design module, and an optimum design of the micro-gyroscope was successfully performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.8
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• pp.819-825
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• 2009

An open frame structure is fastened by bolt joints for strength and shock attenuation. Therefore the full finite element model of an open frame structure should be properly modeled including bolt joints for strength analysis of the frames and joint assemblies which are operated under multi-loading conditions such as driving, drop, inertia and torsional loads. Then the joints and frames must satisfy the specified allowable strength constraints. Because the full finite element model has a large number of elements to perform strength analysis, a detailed fine bolt analysis seems to be very expensive. Therefore bolts of the full finite element model are approximately modeled by coupling method to constrain degree of freedoms between adjacent nodes. However, the coupling method can exaggerate stress results at the constrained nodes. Thus a detailed bolt analysis and a theoretical/experiential formula of bolts for a worst bolt joint are performed using reaction force applied both bolt and bolt joint. Finally, the results from the two methods are compared and discussed to verify the safety of the open frame structure.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.523-528
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• 2008

An open frame structure is fastened by bolt joints for strength and shock attenuation. Therefore the full finite element model of an open frame structure should be properly modeled including bolt joints for strength analysis of the frames and joint assemblies which are operated under multi-loading conditions such as driving, drop, inertia and torsional loads. Then the joints and frames must satisfy the specified allowable strength constraints. Because the full finite element model has a large number of elements to perform strength analysis, a detailed fine bolt analysis seems to be very expensive. Therefore bolts of the full finite element model are approximately modeled by constraints equations to constrain degree of freedoms between adjacent nodes. However, the constraints equation method can exaggerate stress results at the constrained nodes. Thus a detailed bolt analysis and a theoretical/experiential formula of bolts for a worst bolt joint are performed using reaction force applied both bolt and bolt joint. Finally, the results from the two methods are compared and discussed to verify the safety of the open frame structure.

• Earthquakes and Structures
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• v.18 no.4
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• pp.437-449
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• 2020

It is quite apparent that engineering concerns related to the influence of masonry infills on seismic behavior of reinforced concrete (RC) structures is likely to remain relevant in the long term, as infill walls maintain their functionalities in construction practice. Within this framework, the present paper mainly deals with the issue in terms of modal expansion of effective earthquake forces and the resultant modal responses. An adequate determination of spatial distribution of effective earthquake forces over the height of the building is highly essential for both seismic analysis and design. The possible influence of infill walls is investigated by means of modal analyses of two-, three-, and four-bay RC frames with a number of stories ranging from 3 to 8. Both uniformly and non-uniformly infilled frames are considered in numerical analyses, where infill walls are simulated by adopting the model of equivalent compression strut. Consequently, spatial distribution of effective earthquake forces, modal static base shear force response of frames, modal responses of story shears from external excitation vector and lateral floor displacements are obtained. It is found that, infill walls and their arrangement over the height of the frame structure affect the spatial distribution of modal inertia forces, as well as the considered response quantities. Moreover, the amount of influence varies in stories, but is not very dependent to bay number of frames.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.160-165
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• 2005

The proceeding bearings of marine diesel engine are affected by dynamic loads from the cylinder gas pressure and the inertia force from the crank mechanism. Oil film must support the load of the shaft and it also must protect the proceeding and the bearings from damage. This study uses Goenka's new curve fit to carry out the theoretical analysis of oil film in proceeding bearings for MAN B&W 12K90MC-C and Hyundai Heavy Industry Co., Ltd HiMSEN H21/32 Engine. The applied engine's analysis results show the behavior of the proceedings in main and crank pin bearings. The results of this study will be the proper criteria for the proceeding bearings design and be available for development of the new technology in the proceeding bearing and for the high strength lining coating.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.281-289
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• 2016

In this paper, a new dynamic model for modal analysis of a rotating cantilever beam with a tip-mass is developed. The nonlinear strain such as von Karman type and the corresponding linearized stress are used to consider the geometric nonlinearity, and Euler-Bernoulli beam theory is applied in the present model. The nonlinear equations of motion and the associated boundary conditions which include the inertia of the tip-mass are derived through Hamilton's principle. In order to investigate modal characteristics of the present model, the linearized equations of motion in the neighborhood of the equilibrium position are obtained by using perturbation technique to the nonlinear equations. Since the effect of the tip-mass is considered to the boundary condition of the flexible beam, weak forms are used to discretize the linearized equations. Compared with equations related to stiffening effect due to centrifugal force of the present and the previous model, the present model predicts the dynamic characteristic more precisely than the another model. As a result, the difference of natural frequencies loci between two models become larger as the rotating speed increases. In addition, we observed that the mode veering phenomenon occurs at the certain rotating speed.

• Journal of the Korean Society of Visualization
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• v.10 no.1
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• pp.21-26
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• 2012

Hydrophobic characteristics of high temperature metal surface were investigated by high-speed visualization of water droplet impact. An aluminum plate was used as the sample plate and the initial diameter of a water droplet was 2 mm. Transient behavior of a single droplet impinging on the surface with and without heating was captured by using a high speed camera running at 4,000 frames per second. The Leidenfrost phenomenon was demonstrated for the case of $300^{\circ}C$ surface temperature, however there was no rebounding of droplet on the cold plate due to hydrophilic nature. The experimental results show that the shape evolution of a droplet impinging on the surface varies with the Weber number, i.e. the ratio of impact inertia to capillary force. The overall water-repellent characteristics of the heated surface was very similar to that of the super hydrophobic surfaces.