• Structural Engineering and Mechanics
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• v.51 no.6
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• pp.955-971
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• 2014

Large post-buckling behavior of Timoshenko beams subjected to non-follower axial compression loads are studied in this paper by using the total Lagrangian Timoshenko beam element approximation. Two types of support conditions for the beams are considered. In the case of beams subjected to compression loads, load rise causes compressible forces end therefore buckling and post-buckling phenomena occurs. It is known that post-buckling problems are geometrically nonlinear problems. The considered highly non-linear problem is solved considering full geometric non-linearity by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. There is no restriction on the magnitudes of deflections and rotations in contradistinction to von-Karman strain displacement relations of the beam. The beams considered in numerical examples are made of lower-Carbon Steel. In the study, the relationships between deflections, rotational angles, critical buckling loads, post-buckling configuration, Cauchy stress of the beams and load rising are illustrated in detail in post-buckling case.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.11a
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• pp.103-106
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• 2005

The material properties of membrane for stratospheric airship is experimentally investigated. Mechanical tensile properties of the membrane material at room, high and low temperature are measured using instron with thermal chamber. Experimentaly, material non-linearity is observed at room and high temperature. In order to simulate material non-linearity caused by the uniaxial extension curve of a woven fabric, the nonlinear hyperelastic problem is considered with finite clement program of ABAQS. Numerical results are compared with experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.121-127
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• 2009

This paper deals with the design problem of robust stabilization and non-fragile controller for discrete-time singular systems with parameter uncertainties and time-varying delays in state and input by delay-dependent Linear Matrix Inequality (LMI) approach. A new delay-dependent bounded real lemma for singular systems with time-varying delays is derived. Robust stabilization and robust non-fragile state feedback control laws are proposed, which guarantees that the resultant closed-loop system is regular, causal and stable in spite of time-varying delays, parameter uncertainties, and controller gain variations. A numerical example is given to show the validity of the design method.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.325-342
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• 2020

The current study is focused on the evaluation of the ultimate strength of stiffened panels found in ship hull structures that are subjected to combined uniaxial thrust, in-plane and out-of-plane bending moments. This loading condition, which is in general ignored when performing buckling checks, applies to representative control geometries (stiffener with attached plating) as a consequence of the linearly varying normal stresses along the ship's depth induced by the hull-girder vertical bending moment. The problem is generalized by introducing a non-uniform thrust described by a displacement ratio and rotation angle and by introducing the slenderness ratios, within the practical range of interest. The formed design space is explored through methods sourcing from Design of Experiments and by applying non-linear finite element procedures. Surrogate empirical models have been constructed through regression analysis and Response Surface Methods. An additional empirical model is provided to the literature for predicting the ultimate strength under uniaxial thrust. The numerical experimentation has shown that is a significant influence on the ultimate strength of stiffened panels as the thrust non-uniformity increases.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.4_1
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• pp.753-758
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• 2024

Trajectory tracking of the AMR robot is one research for the AMR robot navigation. For the control system of the Autonomous mobile robot(AMR) being in non-honolomic system and the complex relations among the control parameters, it is d ifficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive tracking controller based on the PID for AMR robot trajectory tracking. The method uses a non-linear model of AMR robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven non-holonomic AMR robot is carried out in the velocity and orientation tracking control of the non-holonomic AMR. The simulation results of wheel type AMR robot platform show that the proposed controller is more robust than the conventional back-stepping controller to show the effectiveness of the proposed algorithm.

• Steel and Composite Structures
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• v.15 no.5
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• pp.481-505
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• 2013

This paper focuses on thermal post-buckling analysis of functionally graded beams with temperature dependent physical properties by using the total Lagrangian Timoshenko beam element approximation. Material properties of the beam change in the thickness direction according to a power-law function. The beam is clamped at both ends. In the case of beams with immovable ends, temperature rise causes compressible forces and therefore buckling and post-buckling phenomena occurs. It is known that post-buckling problems are geometrically nonlinear problems. Also, the material properties (Young's modulus, coefficient of thermal expansion, yield stress) are temperature dependent: That is the coefficients of the governing equations are not constant in this study. This situation suggests the physical nonlinearity of the problem. Hence, the considered problem is both geometrically and physically nonlinear. The considered highly non-linear problem is solved considering full geometric non-linearity by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. In this study, the differences between temperature dependent and independent physical properties are investigated for functionally graded beams in detail in post-buckling case. With the effects of material gradient property and thermal load, the relationships between deflections, critical buckling temperature and maximum stresses of the beams are illustrated in detail in post-buckling case.

• Structural Engineering and Mechanics
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• v.44 no.1
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• pp.109-125
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• 2012

Post-buckling behavior of Timoshenko beams subjected to uniform temperature rising with temperature dependent physical properties are studied in this paper by using the total Lagrangian Timoshenko beam element approximation. The beam is clamped at both ends. In the case of beams with immovable ends, temperature rise causes compressible forces end therefore buckling and post-buckling phenomena occurs. It is known that post-buckling problems are geometrically nonlinear problems. Also, the material properties (Young's modulus, coefficient of thermal expansion, yield stress) are temperature dependent: That is the coefficients of the governing equations are not constant in this study. This situation suggests the physical nonlinearity of the problem. Hence, the considered problem is both geometrically and physically nonlinear. The considered highly non-linear problem is solved considering full geometric non-linearity by using incremental displacement-based finite element method in conjunction with Newton-Raphson iteration method. The beams considered in numerical examples are made of Austenitic Stainless Steel (316). The convergence studies are made. In this study, the difference between temperature dependent and independent physical properties are investigated in detail in post-buckling case. The relationships between deflections, thermal post-buckling configuration, critical buckling temperature, maximum stresses of the beams and temperature rising are illustrated in detail in post-buckling case.

• Journal of Korea Society of Industrial Information Systems
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• v.27 no.2
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• pp.61-69
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• 2022

A multi-agent system is a system that aims at achieving the best-coordinated decision based on each agent's local decision. In this paper, we consider a multi agent-multi task assignment problem. Each agent is assigned to only one task and there is a completion probability for performing. The objective is to determine an assignment that maximizes the sum of the completion probabilities for all tasks. The problem, expressed as a non-linear objective function and combinatorial optimization, is NP-hard. It is necessary to design an effective and efficient solution methodology. This paper presents an approximation algorithm using submodularity, which means a marginal gain diminishing, and demonstrates the scalability and robustness of the algorithm in theoretical and experimental ways.

• Smart Structures and Systems
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• v.14 no.1
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• pp.17-37
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• 2014

In this study, four widely accepted and used variants of Evolution Strategies (ES) are adapted and applied to the output-error state-space identification problem. The selection of ES is justified by prior strong indication of superior performance to similar problems, over alternatives like Genetic Algorithms (GA) or Evolutionary Programming (EP). The ES variants that are being tested are (i) the (1+1)-ES, (ii) the $({\mu}/{\rho}+{\lambda})-{\sigma}$-SA-ES, (iii) the $({\mu}_I,{\lambda})-{\sigma}$-SA-ES, and (iv) the (${\mu}_w,{\lambda}$)-CMA-ES. The study is based on a six-degree-of-freedom (DOF) structural model of a shear building that is characterized by light damping (up to 5%). The envisaged analysis is taking place through Monte Carlo experiments under two different excitation types (stationary / non-stationary) and the applied ES are assessed in terms of (i) accurate modal parameters extraction, (ii) statistical consistency, (iii) performance under noise-corrupted data, and (iv) performance under non-stationary data. The results of this suggest that ES are indeed competitive alternatives in the non-linear state-space estimation problem and deserve further attention.