• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 국제강구조저널
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• 제18권4호
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• pp.1200-1209
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• 2018

In this study, a probabilistic framework of the damage assessment of pipelines subjected to extreme hazard scenario was developed to mitigate the risk and enhance design reliability. Nonlinear 3D finite element models of T-joint systems were developed based on experimental tests with respect to leakage detection of black iron piping systems, and a damage assessment analysis of the vulnerability of their components according to nominal pipe size, coupling type, and wall thickness under seismic wave propagations was performed. The analysis results showed the 2-inch schedule 40 threaded T-joint system to be more fragile than the others with respect to the nominal pipe sizes. As for the coupling types, the data indicated that the probability of failure of the threaded T-joint coupling was significantly higher than that of the grooved type. Finally, the seismic capacity of the schedule 40 wall thickness was weaker than that of schedule 10 in the 4-inch grooved coupling, due to the difference in the prohibition of energy dissipation. Therefore, this assessment can contribute to the damage detection and financial losses due to failure of the joint piping system in a liquid pipeline, prior to the decision-making.

• 콘크리트학회논문집
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• 제20권2호
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• pp.203-212
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• 2008

본 연구에서는 다양한 배근상세를 갖는 짧은 연결보 (short coupling beam)의 주기거동특성과 에너지소산 메커니즘을 연구하였다. 주기하중을 받는 연결보의 수치해석을 위하여 비선형트러스모델 (nonlinear truss model)을 사용하였다. 수치해석 결과, 일반적인 수직 수평배근상세를 갖는 연결보는 핀칭이 심한 주기곡선을 보이며 거의 에너지를 소산하지 못하였다. 반면 대각배근상세를 갖는 연결보는 핀칭이 없는 안정적인 주기거동을 보이며 많은 에너지를 소산하였으며, 연결보의 에너지소산은 취성재료인 콘크리트보다 주로 대각 방향으로 배치된 철근에 의하여 발생됐다. 이러한 분석 결과를 토대로 대각철근의 변형률 이력을 사용하여 연결보의 에너지소산량을 예측할 수 있는 간편한 평가식을 개발하였다. 검증을 위하여 제안된 평가식과 실험으로 구한 연결보의 에너지소산량을 실험 결과와 비교하였다. 그 결과, 제안된 평가식은 배근형태, 전단경간비, 비탄성 변형 크기 등 다양한 설계변수의 영향을 고려하여 전단경간비가 1.25이하인 짧은 연결보의 에너지소산량을 비교적 정확히 예측하였다. 제안된 에너지소산량 평가 방법은 철근콘크리트구조물 및 부재의 성능 기초 내진평가/설계에 손쉽게 활용될 수 있다.

• Structural Engineering and Mechanics
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• 제64권2호
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• pp.259-270
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• 2017

The stochastic vibration response of the sandwich beam with the nonlinear adjustable visco-elastomer core and supported mass under stochastic support motion excitations is studied. The nonlinear dynamic properties of the visco-elastomer core are considered. The nonlinear partial differential equations for the horizontal and vertical coupling motions of the sandwich beam are derived. An analytical solution method for the stochastic vibration response of the nonlinear sandwich beam is developed. The nonlinear partial differential equations are converted into the nonlinear ordinary differential equations representing the nonlinear stochastic multi-degree-of-freedom system by using the Galerkin method. The nonlinear stochastic system is converted further into the equivalent quasi-linear system by using the statistic linearization method. The frequency-response function, response spectral density and mean square response expressions of the nonlinear sandwich beam are obtained. Numerical results are given to illustrate new stochastic vibration response characteristics and response reduction capability of the sandwich beam with the nonlinear visco-elastomer core and supported mass under stochastic support motion excitations. The influences of geometric and physical parameters on the stochastic response of the nonlinear sandwich beam are discussed, and the numerical results of the nonlinear sandwich beam are compared with those of the sandwich beam with linear visco-elastomer core.

• 한국군사과학기술학회지
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• 제11권2호
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• pp.116-124
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• 2008

Current paper investigates the dynamic behavior and stability of an infrared search and track subjected to external disturbance having gimbal structure with three rotating axes keeping constant angular velocity in the azimuth direction. Euler-Lagrange equation is applied to derive the coupled nonlinear dynamic equation of motion of infrared search and track and the characteristics of dynamic coupling are investigated. Two equilibrium points with small variations from the nonlinear coupling system are derived and the specific condition from which a coupled equation can be three independent equations is derived. Finally, to examine the stability of system, Lyapunov direct method was used and system stability and stability boundaries are investigated.

• 한국고분자학회:학술대회논문집
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• 한국고분자학회 2006년도 IUPAC International Symposium on Advanced Polymers for Emerging Technologies
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• pp.165-165
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• 2006

We prepared nonlinear optical (NLO) polymers possessing thermal and temporal stability, which were based on the polyimides appended with NLO chromophores. NLO chromophores with a terminal hydroxyl group have been synthesized by coupling between aminobenzene or julolidine donor and phenylene bridge, and then subsequent coupling between the resulting product and tricyanofuran acceptor. The chromophores were chemically bonded to the polyimides backbone through Mitsunobu reaction. The NLO polymers showed $160-170^{\circ}C$ of Tgs and were thermally stable up to $200^{\circ}C$. We obtained optical quality films by spincoating and evaluated their electro-optical properties and temporal stability.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2005년도 봄학술 발표회 논문집(I)
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• pp.175-178
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• 2005

The major object of this paper is to propose a nonlinear finite element analysis(FEA) technique of steel coupling beams-wall connections governed panel shear failure using ABAQUS. Detailed finite element models are created by studying the monotonic load response of the designed steel coupling beams-wall connections. The developed models account for the effect of material inelasticity, concrete cracking, panel shear failure and geometric nonlinearity. In order to verify the proposed FEA model, this study attended experiment considered parameters to the steel beam : face bearing plates, and horizontal ties. And the analytical result attended by the proposed FEA model validated through comparisons with the experimental results. Finally, the study estimated the analytical values compared with ASCE Design Guidelines. At this time, the analysis showed good agreement between the theoretical and experimental results.

• Structural Engineering and Mechanics
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• 제38권5호
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• pp.573-592
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• 2011

Comprehensive and accurate analysis of a finite foundation beam is a challenging engineering problem and an important subject in foundation design. One of the limitation of the traditional Winkler elastic foundation model is that the model neglects the effect of the interface resistance between the beam and the underneath foundation soil. By taking the beam-soil interface resistance into account, a deformation governing differential equation for a finite beam resting on the Winkler elastic foundation is developed. The coupling effect between vertical and horizontal displacements is also considered in the presented method. Using Galerkin method, semi-analytical solutions for vertical and horizontal displacements, axial force, shear force and bending moment of the beam under symmetric loads are presented. The influences of the interface resistance on the behavior of foundation beam are also investigated.

• Journal of Power Electronics
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• 제18권6호
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• pp.1634-1641
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• 2018

This study focuses on a high-performance direct active and reactive power controller design that is successfully applicable to three-phase pulse width modulation (PWM) AC/DC converters used in renewable distributed energy generation systems. The proposed controller can overcome the sluggish transient dynamic response of conventional controllers to rapid power command changes. Desired active and reactive powers can be thoroughly obtained at the end of each PWM period through a deadbeat solution. The proposed controller achieves an exact nonlinear cross-coupling decoupling of system power without using a predefined switching table or bang/bang hysteresis control. A graphical and analytical analysis that naturally leads to a control voltage vector selection is provided to confirm the finding. The proposed control strategy is evaluated on a 3 kW PWM AC/DC converter in the simulation and experiment.

• 한국정밀공학회지
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• 제23권1호
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• pp.105-112
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• 2006

The nonlinear damping force model is made to identify the properties of the ER (electro-rheological) fluid suspension damper. The instrumentation is carried out to measure the damping force of the ER damper. The higher order spectral analysis method is used to investigate the nonlinear frequency coupling phenomena with the damping force signal according to the sinusoidal excitation of the damper. The distinctive higher order nonlinear characteristics are observed. The nonlinear damping force model, which has the higher order velocity terms, is proposed with the result of higher order spectrum analysis. The higher order terms coefficients, which vary according to the strength of the electric field, are calculated using the least square method.