• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• Structural Engineering and Mechanics
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• 제52권2호
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• pp.323-349
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• 2014

In this paper, linear buckling analysis of a curved sandwich beam with a flexible core is investigated. Derivation of equations for face sheets is accomplished via the classical theory of curved beam, whereas for the flexible core, the elasticity equations in polar coordinates are implemented. Employing the von-Karman type geometrical non-linearity in strain-displacement relations, nonlinear governing equations are resulted. Linear pre-buckling analysis is performed neglecting the rotation effects in pre-buckling state. Stability equations are concluded based on the adjacent equilibrium criterion. Considering the movable simply supported type of boundary conditions, suitable trigonometric solutions are adopted which satisfy the assumed edge conditions. The critical uniform load of the beam is obtained as a closed-form expression. Numerical results cover the effects of various parameters on the critical buckling load of the curved beam. It is shown that, face thickness, core thickness, core module, fiber angle of faces, stacking sequence of faces and openin angle of the beam all affect greatly on the buckling pressure of the beam and its buckled shape.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 2006년도 Extended Abstracts of 2006 POWDER METALLURGY World Congress Part 1
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• pp.181-182
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• 2006

Cylindrical specimens with different levels of density have been submitted to uniaxial compression tests with loading and unloading cycles. The analysis of the elastic loadings shows a non linear elasticity which can be mathematically represented by means of a potential law. Results are explained by assuming that the total elastic strain is the contribution of two terms one deriving from the hertzian deformation of the contacts among particles and another that takes into account the linear elastic deformation of the powder skeleton. A simple model based in an one pore unit cell is presented to support the mathematical model.

• 한국물환경학회지
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• 제27권6호
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• pp.830-840
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• 2011

Climate change has been settled as pending issues to consider water resources and environment all over the world, however, scientific and quantitative assessment methods of climate change have never been standardized. When South Korea headed toward water deficiency nation, the study is not only required analysis of atmospheric or hydrologic factors, but also demanded analysis of correlation with water quality environment factors to gain management policies about climate change. Therefore, this study explored appropriate monthly rainfall elasticity in chosen 41 unit watersheds in Nak-dong river which is the biggest river in Korea and applied monitored discharge data in 2004 to 2009 with monthly rainfall using Thiessen method. Each unit watershed drew elasticity between water temperature and water quality factors such as BOD, COD, SS, T-N, and T-P. Moreover, this study performed non-linear correlation analysis with monitored discharge data. Based on results of analysis, this is first steps of climate change analysis using long-term monitoring to develop basic data by Nak-dong river Environmental Research Center (Ministry of Environment) and to draw quantitative results for reliable forecasting. Secondary, the results considered characteristic of air temperature and rainfall in each unit watershed so that the study has significance its various statistical applications. Finally, this study stands for developing comparable data through "The 4 major river restoration" project by Korea government before and after which cause water quality and water environment changes.

• Korea-Australia Rheology Journal
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• 제21권4호
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• pp.269-280
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• 2009

The drop formation dynamics of a shear thinning, elastic, yield stress ($\tau_o$) fluid (Carbopol 980 (poly(acrylic acid)) dispersions) in silicone oil has been investigated in a flow-focusing microfluidic channel. The rheological character of each solution investigated varied from Netwonian-like through to highly non-Newtonian and was varied by changing the degree of neutralization along the poly (acrylic acid) backbone. We have observed that the drop size of these non-Newtonian fluids (regardless of the degree of neutralisation) showed bimodal behaviour. At first we observed increases in drop size with increasing viscosity ratio (viscosity ratio=viscosity of dispersed phase (DP)/viscosity of continuous phase (CP)) at low flowrates of the continuous phases, and thereafter, decreasing drop sizes as the flow rate of the CP increases past a critical value. Only at the onset of pinching and during the high extensional deformation during pinch-off of a drop are any differences in the non-Newtonian characteristics of these fluids, that is extents of shear thinning, elasticity and yield stress ($\tau_o$), apparent. Changes in these break-off dynamics resulted in the observed differences in the number and size distribution of secondary drops during pinch-off for both fluid classes, Newtonian-like and non-Newtonian fluids. In the case of the Newtonian-like drops, a secondary drop was generated by the onset of necking and breakup at both ends of the filament, akin to end-pinching behavior. This pinch-off behavior was observed to be unaffected by changes in viscosity ratio, over the range explored. Meanwhile, in the case of the non-Newtonian solutions, discrete differences in behaviour were observed, believed to be attributable to each of the non-Newtonian properties of shear thinning, elasticity and yield stress. The presence of a yield stress ($\tau_o$), when coupled with slow flow rates or low viscosities of the CP, reduced the drop size compared to the Newtonian-like Carbopol dispersions of much lower viscosity. The presence of shear thinning resulted in a rapid necking event post onset, a decrease in primary droplet size and, in some cases, an increase in the rate of drop production. The presence of elasticity during the extensional flow imposed by the necking event allowed for the extended maintenance of the filament, as observed previously for dilute solutions of linear polymers during drop break-up.

• Structural Engineering and Mechanics
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• 제22권3호
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• pp.263-278
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• 2006

Starting with the geometrically non-linear formulation and the subsequent linearization, this paper presents a consistent formulation of the exact mechanical analysis of geometrically and materially linear three-layer continuous planar beams. Each layer of the beam is described by the geometrically linear beam theory. Constitutive laws of layer materials and relationships between interlayer slips and shear stresses at the interface are assumed to be linear elastic. The formulation is first applied in the analysis of a three-layer simply supported beam. The results are compared to those of Goodman and Popov (1968) and to those obtained from the formulation of the European code for timber structures, Eurocode 5 (1993). Comparisons show that the present and the Goodman and Popov (1968) results agree completely, while the Eurocode 5 (1993) results differ to a certain degree. Next, the analytical solution is used in formulating a general procedure for the analysis of layered continuous beams. The applications show the qualitative and quantitative effects of the layer and the interlayer slip stiffnesses on internal forces, stresses and deflections of composite continuous beams.

• 한국정밀공학회지
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• 제23권12호
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• pp.80-87
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• 2006

Seals are usually made from elastomer, a kind of rubber, and it has the non-linearity and hyper-elasticity. U-type seals are used to prevent the leakage of internal fluid sealed in hydraulic actuator because they have more excellent performance than O-rings or rectangular seals. As a core part of hydraulic actuator, U-type seal gives much effect on performance and reliability of actuator. This study considers an NBR U-type seal under high pressure of a hydraulic actuator, and provides its deformation, stress-strain characteristic and contact force using the non-linear finite element analysis. Analysis results are compared with the experimental ones performed by the self-developed testing equipment. Verification result shows that this study presents a good application process for the effective design of U-type seals under high operation pressure.

• Advances in materials Research
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• 제12권4호
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• pp.309-330
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• 2023

The humid thermal vibration characteristics of a nonhomogeneous thermopiezoelectric nonlocal plate of polygonal shape are addressed in the purview of generalized nonlocal thermoelasticity. The plate is initially stressed, and the three-dimensional linear elasticity equations are taken to form motion equations. The problem is solved using the Fourier expansion collocation method along the irregular boundary conditions. The numerical results of physical variables have been discussed for the triangle, square, pentagon, and hexagon shapes of the plates and are given as dispersion curves. The amplitude of non-dimensional frequencies is tabulated for the longitudinal and flexural symmetric modes of the thermopiezoelectric plate via moisture and thermal constants. Also, a comparison of numerical results is made with existing literature, and good agreement is reached.

• Advances in nano research
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• 제9권3호
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• pp.157-172
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• 2020

The aim of this present research is the effect of the higher-order terms of the governing equation on the forced longitudinal vibration of a nanorod model and making comparisons of the results with classical nonlocal elasticity theory. For this purpose, the free axial vibration along with forced one under the two various linear and harmonic axial concentrated forces in zigzag Single-Walled Carbon Nanotube (SWCNT) are analyzed dynamically. Three various theories containing the classical theory, which is called Eringen's nonlocal elasticity, along with Rayleigh and Bishop theories (higher-order theories) are established to justify the nonlocal behavior of constitutive relations. The governing equation and the related boundary conditions are derived from Hamilton's principle. The assumed modes method is adopted to solve the equation of motion. For the free axial vibration, the natural frequencies are calculated for the various values of the nonlocal parameter only based on Eringen's theory. The effects of the nonlocal parameter, thickness, length, and ratio of the excitation frequency to the natural frequency over time in dimensional and non-dimensional axial displacements are investigated for the first time.

• Steel and Composite Structures
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• 제18권3호
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• pp.659-672
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• 2015

This research deals with the analytical solution of a curved beam with different shapes made of functionally graded materials (FGM's). It was assumed that modulus of elasticity is graded along the thickness direction of curved beam based on a power function. The beam was loaded under pure bending. Using the linear theory of elasticity, the general relation for radial distribution of radial and circumferential stresses of arbitrary cross section was derived. The effect of nonhomogeneity was considered on the radial distribution of circumferential stress. This behavior can be investigated for positive and negative values of nonhomogeneity index. The novelty of this study is application of the obtained results for different combination of material properties and cross sections. Achieved results indicate that employing different nonhomogeneity index and selection of various types of cross sections (rectangular, triangular or circular) can control the distribution of radial and circumferential stresses as designer want and propose new solutions by these options. Increasing the nonhomogeneity index for positive or negative values of nonhomogeneity index and for various cross sections presents different behaviors along the thickness direction. In order to validate the present research, the results of this research can be compared with previous result for reachable cross sections and non homogeneity index.