• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.263-274
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• 2018

In this study, we propose a frequency domain spectral element method (SEM) for the vibration analysis of a multi-span beam subjected to a moving point force. This study is an extension of the authors' previous study for a single-span beam subjected to a moving point force, where the two-element model-based SEM was applied. In this study, each span of a multi-span beam is represented by the Timoshenko beam model and the moving point force is transformed into the frequency domain as a series of each stationary point force distributed on the multi-span beam. The span at which a stationary point force is located is represented by two-element model, but all other spans are represented by one-element models. The vibration responses to a moving point force are obtained by superposing all individual vibration responses generated by each stationary point force. The high accuracy and computational efficiency of the proposed SEM are verified by comparing the solutions by SEM with exact analytical solutions by the integral transform method (ITM) as well as the solutions by the finite element method (FEM).

• Structural Engineering and Mechanics
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• v.4 no.3
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• pp.303-312
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• 1996

The dynamic behavior of an Euler beam with multiple point constraints traversed by a moving concentrated mass, a "moving-force moving-mass" problem, is analyzed and compared with the corresponding simplified "moving-force" problem. The equation of motion in matrix form is formulated using Lagrangian approach and the assumed mode method. The effects of the presence of intermediate point constraints in reducing the fluctuation of the contact force between the mass and the beam and the possible separation of the mass from the beam are investigated. The equation of motion and the numerical results are expressed in dimensionless form. The numerical results presented are therefore applicable for a large combination of system parameters.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.82-84
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• 2003

In case contact between point of contacts is not achieved well, contact resistance is grown, and by current concentration at current conducting contacts can weld. In order to decrease contact resistance between contacts in case of busbar, installing spring between fixed contact and moving contact. and then force on faying surface of contacts increase and contact resistance decrease. But, in case increase force of spring to widen contact area, operating force moving contact can grow, on the contrary force of spring is small, contact resistance becomes low. Therefore, need to optimize force and number of spring. position, and also need to examine force change on contact surface at point of contact moving. In this paper, dynamic kinetics analysis for force on faying surface of contacts is performed at unsteady state. It is showed to not uniform force on surface between contacts, and we can got more uniform force by means of change spring position.

• Journal of the Korean Society for Railway
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• v.19 no.1
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• pp.54-66
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• 2016

In this study, the absorbing boundary condition was adopted to prevent elastic wave propagation due to abrupt load condition changes in moving force analysis. It was proven to be effective in reducing inappropriate noise components. Furthermore, to verify whether fixed point excitation in a laboratory test can simulate train movement effectively, the results of dynamic analysis for fixed point excitation and moving force conditions were analyzed. The dynamic stability of an asphalt track structure under a KTX train condition was also studied. Additionally, the dynamic safety of asphalt tracks was verified by comparing the results of a moving force analysis under a KTX train load and a quasi-static analysis under the design standard Korean train load.

• Structural Engineering and Mechanics
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• v.38 no.1
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• pp.81-97
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• 2011

In this research, the wavelet transform is used to analyze time response of a cracked beam carrying moving mass for damage detection. In this respect, a new damage detection method based on the combined use of continuous and discrete wavelet transforms is proposed. It is shown that this method is more capable in making damage signature evident than the traditional two approaches based on direct investigation of the wavelet coefficients of structural response. By the proposed method, it is concluded that strain data outperforms displacement data at the same point in revealing damage signature. In addition, influence of moving mass-induced terms such as gravitational, Coriolis, centrifuge forces, and pure inertia force along the deflection direction to damage detection is investigated on a sample case. From this analysis it is concluded that centrifuge force has the most influence on making both displacement and strain data damage-sensitive. The Coriolis effect is the second to improve the damage-sensitivity of data. However, its impact is considerably less than the former. The rest, on the other hand, are observed to be insufficient alone.

• Smart Structures and Systems
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• v.18 no.3
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• pp.585-599
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• 2016

Steel cables serve as the key structural components in long-span bridges, and the force state of the steel cable is deemed to be one of the most important determinant factors representing the safety condition of bridge structures. The disadvantages of traditional cable force measurement methods have been envisaged and development of an effective alternative is still desired. In the last decade, the vision-based sensing technology has been rapidly developed and broadly applied in the field of structural health monitoring (SHM). With the aid of vision-based multi-point structural displacement measurement method, monitoring of the tensile force of the steel cable can be realized. In this paper, a novel cable force monitoring system integrated with a multi-point pattern matching algorithm is developed. The feasibility and accuracy of the developed vision-based force monitoring system has been validated by conducting the uniaxial tensile tests of steel bars, steel wire ropes, and parallel strand cables on a universal testing machine (UTM) as well as a series of moving loading experiments on a scale arch bridge model. The comparative study of the experimental outcomes indicates that the results obtained by the vision-based system are consistent with those measured by the traditional method for cable force measurement.

• Interaction and multiscale mechanics
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• v.3 no.1
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• pp.81-94
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• 2010

The steady state response of a rotating generalized thermoelastic solid to a moving point load has been investigated. The transformed components of displacement, force stress and temperature distribution are obtained by using Fourier transformation. These components are then inverted and the results are obtained in the physical domain by applying a numerical inversion method. The numerical results are presented graphically for a particular model. A particular result is also deduced from the present investigation.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.42-52
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• 2006

In order to utilize hydrodynamic drag force on articulated robots moving in an underwater environment, an optimum motion planning procedure is proposed. The drag force acting on cylindrical underwater arms is modeled and a directional drag measure is defined as a quantitative measure of reaction force in a specific direction in a workspace. A repetitive trajectory planning method is formulated from the general point-to-point trajectory planning method. In order to globally optimize the parameters of repetitive trajectories under inequality constraints, a 2-level optimization scheme is proposed, which adopts the genetic algorithm (GA) as the 1st level optimization and sequential quadratic programming (SQP) as the 2nd level optimization. To verify the validity of the proposed method, optimization examples of periodic motion planning with the simple two-link planner robot are also presented in this paper.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.160-161
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• 2012

The traditional theory regarding the pivot point of a ship during maneuvering, so called apparent pivot point, is located nearly at 1/3 ship's length from the bow when the ship is moving ahead, and between 1/4 ship's length from the stern and the rudder post when going astern. The pivot point is sometimes considered to be the centre of leverage for forces acting on the ship. However, the pivot point is located out of ship due to strong lateral force, such as current and it is very inconvenient to use during maneuvering a ship. In this paper firstly, pivot points due to ship's condition are investigated carefully. And then the center of lateral resistance used at the present are determined. While a new lateral force is added, we can compare the pivot point with the center of lateral forces. Finally, we will suggest the center of all lateral forces for maneuvering instead of pivot point. Especially, it will be very helpful for pilots to handle ships in simulation.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.