• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.3
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.

• Transactions of the Korean Society of Mechanical Engineers
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• v.6 no.4
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• pp.390-396
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• 1982

The onset of longitudinal vortices in horizontal Blasius flow isothermally heated from below is studied analytically. The assumption that at the onset of thermal instability the thermal disturbances are confined within the thermal boundary layer is employed for the limiting case of large Prandtl number. Polynomial representations for the basic quantities obtained by the integral method of the boundary layer analysis have been used. Then the system of differential equations and boundary conditions for disturbance quantities is reformulated in a convenient form so that the solutions may be constructed as rapidly convergent power series. The critical buoyancy parameter G $r_{x}$ $^{*}$ /R $e^{*1.5}$ falls between 2 and 6, which is about one order of magnitude lower than the existing experimental values. It is also shown that the positions of the onset of instability can be closely predicted by the present theory.y.y.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.949-956
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• 2006

The method of Greenwood and Williamson is extended to obtain a solution to the coupled non-linear problem of steady-state electrical and thermal conduction across a crack in a conductive layer, for which the electrical resistivity and thermal conductivity are functions of temperature. The problem can be decomposed into the solution of a pair of non-linear algebraic equations involving boundary values and material properties. The new mixed-boundary value problem given from the thermal and electrical boundary conditions for the crack in the conductive layer is reduced in order to solve a singular integral equation of the first kind, the solution of which can be expressed in terms of the product of a series of the Chebyshev polynomials and their weight function. The non-existence of the solution for an infinite conductor in electrical and thermal conduction is shown. Numerical results are given showing the temperature field around the crack.

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.19-29
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• 2003

Disassembly is a fundamental process needed for component reuse and material recycling in all assembled products. Integral attachments, also known as 'snap' fits, are favored fastening means in design for assembly (DFA) methodologies, but not necessarily a favored choice for design for disassembly. In this paper, design methods of a new class of integral attachments are proposed, where the snapped joints can be disengaged by the application of localized heat sources. The design problem of reversible integral attachments is posed as the design of compliant mechanisms actuated with localized thermal expansion of materials. Topology optimization technique is utilized to obtain conceptual layout of snap-fit mechanisms that realizes a desired deformation of snapped features for joint release. Two design approaches are attempted and design results of each approach are presented, where the geometrical configuration extracted from optimal topologies are simplified to enhance the manufacturability for the conventional injection molding technologies. To maximize the magnitude of deformation, a design scheme has been proposed to include boundary conditions as design variables. Final designs are verified using commercial software for finite element analysis.

• Advances in materials Research
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• v.13 no.5
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• pp.335-353
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• 2024

In the present paper, a simple quasi-3D integral higher-order beam theory (HBT) is presented, in which both shear deformation and thickness stretching effects are included for mechanical analysis of advanced composite beams with simply supported boundary conditions, handling mainly bending, buckling, and free vibration problems. The kinematics is based on a novel displacement field which includes the undetermined integral terms and the parabolic function is used in terms of thickness coordinate to represent the effect of transverse shear deformation. The governing equilibrium equations are drawn from the dynamic version of the principle of virtual work; whereas the solution of the problem is obtained by assuming a Navier technique for simply supported advanced composite beams subjected to sinusoidally and uniformly distributed loads. The correctness of the present computational method is checked by comparing the obtained numerical results with quasi-3D solutions found in the literature and with those provided by other shear deformation beam theories. It can be confirmed that the proposed model, which does not involve any shear correction factor, is not only accurate but also simple and useful in solving the static and dynamic response of advanced composite beams.

• Steel and Composite Structures
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• v.44 no.4
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• pp.503-517
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• 2022

This paper presents the mechanical buckling of bi-directional functionally graded sandwich beams (BFGSW) with various boundary conditions employing a quasi-3D beam theory, including an integral term in the displacement field, which reduces the number of unknowns and governing equations. The beams are composed of three layers. The core is made from two constituents and varies across the thickness; however, the covering layers of the beams are made of bidirectional functionally graded material (BFGSW) and vary smoothly along the beam length and thickness directions. The power gradation model is considered to estimate the variation of material properties. The used formulation reflects the transverse shear effect and uses only three variables without including the correction factor used in the first shear deformation theory (FSDT) proposed by Timoshenko. The principle of virtual forces is used to obtain stability equations. Moreover, the impacts of the control of the power-law index, layer thickness ratio, length-to-depth ratio, and boundary conditions on buckling response are demonstrated. Our contribution in the present work is applying an analytical solution to investigate the stability behavior of bidirectional FG sandwich beams under various boundary conditions.

• Wind and Structures
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• v.27 no.4
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• pp.235-245
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• 2018

In this study the stress analysis of orthotropic thin plate with arbitrary shapes for different boundary conditionsis investigated. Meshfreemethod is applied to static analysis of thin plates with various geometries based on the Kirchhoff classical plate theory. According to the meshfree method the domain of the plates are expressed through a set of nodes without using mesh. In this method, a set of nodes are defined in a standard rectangular domain, then via a third order map, these nodes are transferred to the main domain of the original geometry; therefore the analysis of the plates can be done. Herein, Meshless local Petrov-Galerkin (MLPG) as a meshfree numerical method is utilized. The MLS function in MLPG does not satisfy essential boundary conditions using Delta Kronecker. In the MLPG method, direct interpolation of the boundary conditions can be applied due to constructing node by node of the system equations. The detailed parametric study is conducted, focusing on the arbitrary geometries of the thin plates. Results show that the meshfree method provides better accuracy rather than finite element method. Also, it is found that trend of the figures have good agreement with relevant published papers.

• Ocean Systems Engineering
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• v.1 no.4
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• pp.355-372
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• 2011

Based on the fully nonlinear velocity potential theory, the liquid sloshing in a three dimensional tank under random excitation is studied. The governing Laplace equation with fully nonlinear boundary conditions on the moving free surface is solved using the indirect desingularized boundary integral equation method (DBIEM). The fourth-order predictor-corrector Adams-Bashforth-Moulton scheme (ABM4) and mixed Eulerian-Lagrangian (MEL) method are used for the time-stepping integration of the free surface boundary conditions. A smoothing scheme, B-spline curve, is applied to both the longitudinal and transverse directions of the tank to eliminate the possible saw-tooth instabilities. When the tank is undergoing one dimensional regular motion of small amplitude, the calculated results are found to be in very good agreement with linear analytical solution. In the simulation, the normal standing waves, travelling waves and bores are observed. The extensive calculation has been made for the tank undergoing specified random oscillation. The nonlinear effect of random sloshing wave is studied and the effect of peak frequency used for the generation of random oscillation is investigated. It is found that, even as the peak value of spectrum for oscillation becomes smaller, the maximum wave elevation on the side wall becomes bigger when the peak frequency is closer to the natural frequency.

• International Journal of Naval Architecture and Ocean Engineering
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• v.5 no.4
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• pp.546-558
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• 2013

The research performed in this paper was carried out to investigate the numerical analysis of the sheet cavitation on marine propeller. The method is boundary element method (BEM). Using the Green's theorem, the velocity potential is expressed as an integral equation on the surface of the propeller by hyperboloid-shaped elements. Employing the boundary conditions, the potential is determined via solving the resulting system of equations. For the case study, a DTMB4119 propeller is analyzed with and without cavitating conditions. The pressure distribution and hydrodynamic performance curves of the propellers as well as cavity thickness obtained by numerical method are calculated and compared by the experimental results. Specifically in this article cavitation changes are investigate in both the radial and chord direction. Thus, cross flow variation has been studied in the formation and growth of sheet cavitation. According to the data obtained it can be seen that there is a better agreement and less error between the numerical results gained from the present method and Fluent results than Hong Sun method. This confirms the accurate estimation of the detachment point and the cavity change in radial direction.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.2
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• pp.181-186
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• 1992

The scattering property of TMz illuminated perfectly conducting and dielectric cylinders of arbitrary cross section are analyzed by the boundary element techniques. The boundary element equations are formulated via Maxwell’s equations, weighted residual or Green’s theorem, and the boundary conditions. The unknown surface fields on the boundaries are then calculated by the boundary element integral equations. Once the surface fields are found, the scattered fields in from a perfectly conducting circular and elliptic cylinders, a dielectric circular and elliptic cylinders are numerically analyzed. A general computer program has been developed using the quadratic elements(higher order boundary elements) and the Gaussian quadrature.