• 드라이브 ㆍ 컨트롤
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• 제16권4호
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• pp.38-47
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• 2019

In this paper, a real-time simulation model of an excavator using Amesim was proposed, considered the operation of functional valves with the main control valve (MCV). The hydraulic system models including the pump and MCV have been developed. The kinematic and dynamic models of the manipulator have also been developed, to confirm the behavior of the excavator. The MCV model includes various functional valves such as the regenerative valves, holding valves, swing and boom priority valves, and regen-cut valves so that simulations similar to real excavators can be performed. Additionally, to obtain the real-time calculation performance, the parts with no major influence on the dynamic behavior were simplified, high frequency factors were removed, and parameters were optimized. The models were compared with each other through the numerical analysis with variable time-step and fixed time-step, and the results were verified by comparison with the results of the actual vehicle tests.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2002년도 학술대회지
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• pp.815-818
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• 2002

The elliptic relaxation model(ERM) with the inhomogeneous correction intermediate between near wall with and far from the wall. The source of the ERM usually was appled quasi-homogeneous pressure-strain correlation in homogeneous situations. This formulation was easily applied to the linear model or non-linear pressure-strain model. It is observed that the boundary conditions of the relaxation operator dominate the homogeneous pressure-strain model in the near wall region. While looking at high-Reynolds number flows, it was found necessary to modify the effect of the relaxation operator throughout the log region by accounting for gradients of the flatness variable and turbulent length scales. These effects are kinematic blocking of the wall normal velocity fluctuation and pressure reflections from the surface. This model is wall distances and unit vectors which make the model applicable to flows boundary by a complex geometry. Inhomogeneous correction model is computed inertial and non-inertial channel flow These are compared DNS(Kim et at., Kristofffrsen & Andersson) for channel flow. The present model could be predicted well for rotating flows.

• 한국정밀공학회지
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• 제14권7호
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Coupled systems mechanics
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• 제3권3호
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• pp.247-265
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• 2014

This article discusses the dynamic response of Bernoulli-Euler straight beam with angular elastic supports subjected to moving load with variable velocity. A new engineering approach for determination of the dynamic effect from the moving load on the stressed and strained state of the beam has been developed. A dynamic coefficient, a ratio of the dynamic to the static deflection of the beam, has been defined on the base of an infinite geometrical absolutely summable series. Generalization of the R. Willis' equation has been carried out: generalized boundary conditions have been introduced; the generalized elastic curve's equation on the base of infinite trigonometric series method has been obtained; the forces of inertia from normal and Coriolis accelerations and reduced beam mass have been taken into account. The influence of the boundary conditions and kinematic characteristics of the moving load on the dynamic coefficient has been investigated. As a result, the dynamic stressed and strained state has been obtained as a multiplication of the static one with the dynamic coefficient. The developed approach has been compared with a finite element one for a concrete engineering case and thus its authenticity has been proved.

• Steel and Composite Structures
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• 제24권5호
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• pp.603-613
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• 2017

In this research, the free vibration response of laminated composite plates is investigated using a novel and simple higher order shear deformation plate theory. The model considers a non-linear distribution of the transverse shear strains, and verifies the zero traction boundary conditions on the surfaces of the plate without introducing shear correction coefficient. The developed kinematic uses undetermined integral terms with only four unknowns. Equations of motion are obtained from the Hamilton's principle and the Navier method is used to determine the closed-form solutions of antisymmetric cross-ply and angle-ply laminates. Numerical examples studied using the present formulation is compared with three-dimensional elasticity solutions and those calculated using the first-order and the other higher-order theories. It can be concluded that the present model is not only accurate but also efficient and simple in studying the free vibration response of laminated composite plates.

• Smart Structures and Systems
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• 제26권5호
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• pp.641-656
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• 2020

The finite element solutions of thermal buckling load values of the graded sandwich curved shell structure are reported in this research using a higher-order kinematic model including the shear deformation effect. The numerical buckling temperature has been computed using an in-house specialized code (MATLAB environment) prepared in the framework of the current mathematical formulation. In addition, the mathematical model includes the excess structural distortion under the influence of elevated environment via Green-Lagrange nonlinear strain. The corresponding eigenvalue equation has been solved to predict the critical buckling temperature of the graded sandwich structure. The numerical stability and the accuracy of the current solution have been confirmed by comparing with the available published results. Thereafter, the model is extended to bring out the influences of structural parameters i.e. the curvature ratio, core-face thickness ratio, support conditions, power-law indices and sandwich types on the thermal buckling behavior of graded sandwich curved shell panels.

• International Journal of Aeronautical and Space Sciences
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• 제5권2호
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• pp.1-8
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• 2004

Real-Time Kinematic GPS positioning is widely used for many applications.Resolving ambiguities is the key to precise positioning. Integer ambiguity resolution isthe process of resolving the unknown cycle ambiguities of double difference carrierphase data as integers. Two important issues of resolving are efficiency andreliability. In the conventional search techniques, we generally used chi-squarerandom variables for decision variables. Mathematically, a chi-square random variableis the sum of mutually independent, squared zero-mean unit-variance normal(Gaussian) random variables. With this base knowledge, we can separate decisionvariables to several normal random variables. We showed it with related equationsand conceptual diagrams. With this separation, we can improve the computationalefficiency of the process without losing the needed performance. If we averageseparated normal random variables sequentially, averaged values are also normalrandom variables. So we can use them as decision variables, which prevent from asudden increase of some decision variable. With the method using averaged decisionvalues, we can get the solution more quicklv and more reliably.To verify the performance of our proposed algorithm, we conducted simulations.We used some visual diagrams that are useful for intuitional approach. We analyzedthe performance of the proposed algorithm and compared it to the conventionalmethods.

• Structural Engineering and Mechanics
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• 제63권5호
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• 한국운동역학회지
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• 제28권2호
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• pp.109-117
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• 2018

Objective: To compare head and hand movement patterns during squash forehand motions between experts and less-skilled squash players. Method: Four experts and four less-skilled squash players participated in this study. They performed squash forehand swings and a VICON motion analysis system was used to obtain displacement and velocity data of the head and right hand during the movement. Mann-Whitney U-tests were performed to compare head and hand range of motion and peak velocity, and cross-correlation was performed to analyze the head-hand coordination pattern between groups in three movement directions. Results: In terms of head and hand kinematic data, experts had greater head range of motion during down swings than less-skilled squash players. Experts seemed to reach peak hand velocity at impact by reaching peak head velocity followed by hand peak velocity within a given temporal sequence. In terms of head-hand coordination patterns, both groups revealed high positive correlations in the medial-lateral direction, indicating a dominant allocentric coordination pattern. However, experts had uncoupled coordination patterns in the vertical direction and less-skilled squash players had high positive correlations. These results indicate that the head-hand movement pattern likely an important factor squash forehand movement. Conclusion: Analysis of head and hand movement patterns could be a key variable in squash training to reach expert-level performance.

• Steel and Composite Structures
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• 제34권2호
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• pp.279-288
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• 2020

The computational post-buckling strength of the tilted sandwich composite shell structure is evaluated in this article. The computational responses are obtained using a mathematical model derived using the higher-order type of polynomial kinematic in association with the through-thickness stretching effect. Also, the sandwich deformation behaviour of the flexible soft-core sandwich structural model is expressed mathematically with the help of a generic nonlinear strain theory i.e. Green-Lagrange type strain-displacement relations. Subsequently, the model includes all of the nonlinear strain terms to account the actual deformation and discretized via displacement type of finite element. Further, the computer code is prepared (MATLAB environment) using the derived higher-order formulation in association with the direct iterative technique for the computation of temperature carrying capacity of the soft-core sandwich within the post-buckled regime. Further, the nonlinear finite element model has been tested to show its accuracy by solving a few numerical experimentations as same as the published example including the consistency behaviour. Lastly, the derived model is utilized to find the temperature load-carrying capacity under the influences of variable factors affecting the soft-core type sandwich structural design in the small (finite) strain and large deformation regime including the effect of tilt angle.