• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• Journal of the Chungcheong Mathematical Society
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• v.21 no.3
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• pp.395-401
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• 2008

In this paper we investigate h-stability for linear dynamic equations on time scales under $u_{\infty}$-similarity.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.145-151
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• 1995

The first-order Taylor series expansion can be evaluated analytically from the formulated symbolic nonlinear dynamic equations. A closed-form linear dynamic euation is derived about a nominal trajectory. The state space representation of the linearized dynamics can be derived easily from the closed-form linear dynamic equations. But manual symbolic expansion of dynamic equations and linearization is tedious, time-consuming and error-prone. So it is desirable to manipulate the procedures using a computer. In this paper, the analytic linearization is performed using the symbolic language MATHEMATICA. Two examples are given to illustrate the approach anbd to compare nonlinear model with linear model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.202-206
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• 2001

The paper presents the dynamic stability of a vertical cantilevered pipe conveying fluid and having an intermediate translational linear spring. The translational linear spring can be located at an arbitrary position. Governing equations are derived by energy expressions, and numerical technique using Galerkin's method is applied to discretize the equations of small motion of the pipe. Effects of linear spring supports on the dynamic stability of a vertical cantilevered pipe conveying fluid are fully investigated for various locations and magnitudes of the translational linear spring.

• Steel and Composite Structures
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• v.41 no.6
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• pp.821-829
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• 2021

Nonlinear dynamic response of a sandwich beam considering porous core and nano-composite face sheet on nonlinear viscoelastic foundation with temperature-variable material properties is investigated in this research. The Hamilton's principle and beam theory are used to drive the equations of motion. The nonlinear differential equations of sandwich beam respect to time are obtained to solve nonlinear differential equations by Homotopy perturbation method (HPM). The effects of various parameters such as linear and nonlinear damping coefficient, linear and nonlinear spring constant, shear constant of Pasternak type for elastic foundation, temperature variation, volume fraction of carbon nanotube, porosity distribution and porosity coefficient on nonlinear dynamic response of sandwich beam are presented. The results of this paper could be used to analysis of dynamic modeling for a flexible structure in many industries such as automobiles, Shipbuilding, aircrafts and spacecraft with solar easured at current time step and the velocity and displacement were estimated through linear integration.

• Journal of the Chungcheong Mathematical Society
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• v.25 no.1
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• pp.127-133
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• 2012

In this paper we give a necessary and sufficient condition for characterizing $h$-stability for linear dynamic systems on time scales by using Lyapunov functions.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.162-165
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• 1995

For an accurate on-line measurement of the ship's attitude the paper develops an intelligent sensing system which uses one servo-type accelerometer and two servo-type inclinometers appropriately located on the ship. By considering the dynamics of the servo-controlled rigid pendulums of the inclinometers, linear equations for the rolling and pitching of the ship are derived separately from each other. Moreover, one accelerometer is used for extracting the heaving signal. Through the introduction of linear dynamic models and the linear observation equations for the heaving, rolling and pitching, the on-line measurement of the three signals can be reduced to the state estimation of the linear dynamic systems. A bank of Kalman filters is adaptively used to achieve the on-line accurate state estimation and to overcome changes in parameters in the linear dynamic models.

• Steel and Composite Structures
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• v.31 no.2
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• pp.187-199
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• 2019

This paper presents the semi-analytical development of the dynamic instability behavior and the dynamic response of functionally graded (FG) cylindrical shallow shell panel subjected to different type of periodic axial compression. First, in prebuckling analysis, the stresses distribution within the panels are determined for respective loading type and these stresses are used to study the dynamic instability behavior and the dynamic response. The prebuckling stresses within the shell panel are the same as applied in-plane edge loading for the case of uniform and linearly varying loadings. However, this is not true for the case of parabolic loadings. The parabolic edge loading produces all the stresses (${\sigma}_{xx}$, ${\sigma}_{yy}$ and ${\tau}_{xy}$) within the FG cylindrical panel. These stresses are evaluated by minimizing the membrane energy via Ritz method. Using these stresses the partial differential equations of FG cylindrical panel are formulated by applying Hamilton's principal assuming higher order shear deformation theory (HSDT) and von-$K{\acute{a}}rm{\acute{a}}n$ non-linearity. The non-linear governing partial differential equations are converted into a set of Mathieu-Hill equations via Galerkin's method. Bolotin method is adopted to trace the boundaries of instability regions. The linear and non-linear dynamic responses in stable and unstable region are plotted to know the characteristics of instability regions of FG cylindrical panel. Moreover, the non-linear frequency-amplitude responses are obtained using Incremental Harmonic Balance (IHB) method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.7
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• pp.1125-1130
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• 2001

Dynamic behaviors of an automatic dynamic balancer are analyzed by a theoretical approach. Using the polar coordinates, the non-linear equations of motion for an automatic dynamic balancer equipped in a rotor with the bending flexibility are derived from Lagrange equation. Based on the non-linear equation, the stability analysis is performed by using the perturbation method. The stability results are verified by computing dynamic response. The time responses are computed from the non-linear equations by using a time integration method. We also investigate the effect of the bending flexibility on the dynamics of the automatic dynamic balancer.

• East Asian mathematical journal
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• v.27 no.3
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• pp.289-297
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• 2011

The introduction of fuzzy differential equation is to deal wit fuzzy dynamic systems. As classical differential equations, it is difficult to find the solutions to all fuzzy differential equations. In this paper an existence and uniqueness theorem for linear fuzzy differential equations is obtained. Moreover, the exact solution to linear fuzzy differential equation is given.