• Journal of Ocean Engineering and Technology
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• v.29 no.1
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• pp.45-55
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• 2015

Because of the high stress concentration near the toe of a welded joint, the calculation of local stress using the finite element method which is relevant to the fatigue strength of the weld toe crack, is a challenging task. This is mainly caused by the sensitivity of finite element analysis, which usually occurs near the area of a dramatically changing stress field. This paper presents a novel numerical method through which a less mesh-sensitive local stress calculation can be achieved based on the 3D solid finite element, strictly sticking to the original definition of hot spot stress. In order to achieve the goal, a traction stress, defined at 0.5t and 1.5t away from the weld toe, was calculated using either a force-equivalent or work-equivalent approach, both of which are based on the internal nodal forces on the imaginary cut planes. In the force-equivalent approach, the traction stress on the imaginary cut plane was calculated using the simple force and moment equilibrium, whereas the equivalence of the work done by both the nodal forces and linearized traction stress was employed in the work-equivalent approach. In order to confirm the validity of the proposed method, five typical welded joints widely used in ships and offshore structures were analyzed using five different solid element types and four different mesh sizes. Finally, the performance of the proposed method was compared with that of the traditionally used surface stress extrapolation method. It turned out that the sensitivity of the hot spot stress for the analyzed typical welded joints obtained from the proposed method outperformed the traditional extrapolation method by far.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.523-530
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• 2007

Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system. First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.8
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• pp.56-64
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• 2005

It is prerequisite that we have to fomulate the nonlinear mathematical modeling to design the guidance and control system of rotorcraft-based unmanned aerial vehicle using a small-scaled commercial helicopter. The small-scaled helicopters are very different from the full-scale helicopters in dynamic behavior such as high rotation speed and high frequency dynamic characteristics. In this paper, the formulation of the mathematical model of the small-scaled helicopter to minimize the complexity is presented by component and source build-up approach. It is linearized at the trim condition of hovering and forward flight and analyzed the flight modes. The results of this approach have general trends but a little difference. To verify this approach, it is necessary to compare this theoretical model with experimental results by system identification using flight test as a next research topic.

• International Journal of Ocean System Engineering
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• v.2 no.2
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• pp.116-138
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• 2012

As in the other fields of mechanics, analytical methods represent an important analysis tool in marine hydrodynamics. The analytical approach is interesting for different reasons : it gives reference results for numerical codes verification, it gives physical insight into some complicated problems, it can be used as a simplified predesign tool, etc. This approach is of course limited to some simplified geometries (cylinders, spheres, ...), and only the case of one or more cylinders, truncated or not, will be considered here. Presented methods are basically eigenfunction expansions whose complexity depends on the boundary conditions. The hydrodynamic boundary value problem (BVP) is formulated within the usual assumptions of potential flow and is additionally simplified by the perturbation method. By using this approach, the highly nonlinear problem decomposes into its linear part and the higher order (second, third, ...) corrections. Also, periodicity is assumed so that the time dependence can be factorized i.e. the frequency domain formulation is adopted. As far as free surface flows are concerned, only cases without or with small forward speed are sufficiently simple to be solved semi-analytically. The problem of the floating body advancing in waves with arbitrary forward speed is far more complicated. These remarks are also valid for the general numerical methods where the case of arbitrary forward speed, even linearized, is still too difficult from numerical point of view, and "it is fair to say that there exists at present no general practical numerical method for the wave resistance problem" [9], and even less for the general seakeeping problem. We note also that, in the case of bluff bodies like cylinders, the assumptions of the potential flow are justified only if the forward speed is less than the product of wave amplitude with wave frequency.

• Structural Engineering and Mechanics
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• v.16 no.5
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• pp.533-556
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• 2003

The flutter and buckling analysis of a beam structure subjected to a static follower force is completely studied in the paper. The beam is fixed in the transverse direction and constrained by a rotational spring at one end, and by a translational spring and a rotational spring at the other end. The co-existence of flutter and buckling in this beam due to the presence of the follower force is an interesting and important phenomenon. The results from this theoretical analysis will be useful for the stability design of structures in engineering applications, such as the potential of flutter control of aircrafts by smart materials. The transition-curve surface for differentiating the two distinct instability regions of the beam is first obtained with respect to the variations of the stiffness of the springs at the two ends. Second, the capacity of the follower force is derived for flutter and buckling of the beam as a function of the stiffness of the springs by observing the variation of the first two frequencies obtained from dynamic analysis of the beam. The research in the paper may be used as a benchmark for the flutter and buckling analysis of beams.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.524-530
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• 2015

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.

• Geomechanics and Engineering
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• v.15 no.5
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• pp.1071-1080
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• 2018

The study of behavior and values of deformations in the geological medium makes the scientific basis of the methodology of synthesis of true values of parameters of its physico-mechanical and density properties taking into account the influence of geodynamic impacts. The segments of continuous variation of homogeneous elastic uniform deformations are determined under overall compression of the medium. The limits of these segments are defined according to the criteria of instability (on geometric form changes and on "internal" instability). Analytical formulae are obtained to calculate current and limiting (critical) values of deformations within the framework of various variants of small and large initial deformations of the non-classically linearized approach of non-linear elastodynamics. The distribution of deformation becomes non-uniform in the medium while the limiting values of deformations are achieved. The proposed analytical formulae are applicable only within homogeneous distribution of deformations. Numerical experiments are carried out for various elastic potentials. It is found that various forms of instability can precede phase transitions and destruction. The influence of these deformation phenomena should be removed while the physico-mechanical and density parameters of the deformed media are determined. In particular, it is necessary to use the formulae proposed in this paper for this purpose.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.142-147
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• 2004

In this paper, a new procedure is proposed to accomplish the primary plus secondary stress(P+Q) at the 'structural element' instead of 'transition element'. For the P+Q evaluation, the calculated stresses by FEA are linearized along a stress classification line to extract the stress category, then the stress intensity is calculated to compare with the $3S_{m}$ limit. Also, in this paper, the 'design by analysis' criteria, adopted fundamental concepts and a new approach to calculate $K_{e}$ factors are explained. The new procedure combined with 3-D FEA has been applied to motor operated valve in order to the over conservatism and the rack of margin. The evaluation results show a good applicability and can be utilized for fatigue life evaluation by using P+Q.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1985-1996
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• 1994

A new design method of sliding hyperplanes is proposed in the synthesis of a variable structure controller for robust tracking of general nonlinear multi-input-output(MIMO) uncertain systems of relative degree higher than two. Input/ output(I/O) linearzation is firstly undertaken by employing the concept of relative degree and minimum phase followed by the construction of sliding mode controllers. Sliding hyperplanes are then derived from the inherent properties of companion matrix and ideal sliding mode characterized in I/O linearized system. Subsequently, the gradient magnitudes of the sling hyperplanes are determined in an optimal manner by considering a quadratic performance index to be evaluated at two phases; a reaching phase and a sliding phase. The proposed design methodology is relatively straightforward and systematic compared with conventional strategies such as geometric approach or pole assignment technique. A nonlinear governor and exciter control problem for a power system is adopted herein in order to demonstrate the design efficiency and also favorable and robust control performances.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.9
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• pp.104-114
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• 1995

Mathematical models of industrial robots or manipulators are composed of highly nonlinear equations with nonlinear couplings between the variables of motions. These nonlin- earities were not considered important in the first stage that the working speed of the manipulator was not so fast, but the effect of nonlinear forces has become serious, as the working speed has been increased. So more improvement of performance cannot be expected by the control of manipulator using approximate linearization. As an approach for solving these problems, there is a method that eliminates nonlinear theory, which makes possible cecoupling of coupling terms and arbitrary arranging of poles is briefly introduced in this study. When the theory is applied to design the control law, its feasibility is examined whether the reasonable control results are obtained by simulating position, velocity, torque and tracing trajectory. The relations between the coefficients of the linearized differential equations and the maximum error and torque for the prescribed trajectory are also examined. Finally, the method for selecting the values for getting the most rapid and precise response within maximum torque of each drive is suggested in the choice of coefficients of characteristic equations which are obtained as a result of the control.