• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.9-13
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• 1997

This parer is a study on the inverse dynamics of a one-link flexible robot arm which is controlled by translational base motion. The system is composed of a flexible arm, a base for driving arm, a DC servomotor, and a computer. The arm base is moved so that the arm tip follows a desired function. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method. Moter voltage is obtained by simulation for tip trajectory functions i. e. Bang-Bang, Cosine and Gauss Function. And, the tip motion is measured while simulation results are applying. Then the results are investigated to select most proper input and to compare their chateristics. Experimental results show the Cosine function is most proper with respect to low maximum voltage and steady state error.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.890-895
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• 1990

A theoretical and experimental study of a single link flexible arm a tip mass is presented for the translational end-point positioning. The problem of shifting the end-point from its initial position to the commanded position by the amount of W $_{d}$ is considered for the open loop control such that the base follows up the given path function. The theoretical results are obtained by applying the method of the Laplace transform to the governing equation, and the solution is calculated by the method of numerical inversion. Experimental results are obtained and compared with the theoretical ones.s.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.185-189
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• 1992

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• Journal of the military operations research society of Korea
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• v.28 no.2
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• pp.56-69
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• 2002

A technique of finding both probability density and distribution function for interkilling times is considered and demonstrated. An important result is that any arbitrary interfiring time random variables fit to this study, The interfiring renewal density function given a certain interfiring probability density function can be applied to obtain the corresponding interkilling renewal density function which helps us to estimate the expected number of killing events in a time period. The numerical inversion of Laplace transformation makes these possible and the results appear to be excellent. In case of ammunition supply is limited, an alternative way of getting the probability density function of time to the killing is investigated. The convolution technique may give us a means of settling for this new problem.

• Steel and Composite Structures
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• v.45 no.6
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• pp.851-863
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• 2022

This research deals with the study of the Thomson heating effect in magneto-thermoelastic homogeneous isotropic rotating medium, influenced by linearly distributed load and as a result of modified couple stress theory. The charge density is taken as a function of the time of the induced electric current. The heat conduction equation with energy dissipation and with hyperbolic two-temperature (H2T) is used to formulate the model of the problem. Laplace and Fourier transforms are used to solve this mathematical model. Various components of displacement, temperature change, and axial stress as well as couple stress are obtained from the transformed domain. To get the solution in physical domain, numerical inversion techniques have been employed. The Thomson effect with GN (Green-Nagdhi) -III theory and Modified Couple Stress Theory (MCST) is shown graphically on the physical quantities.

• Advances in materials Research
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• v.11 no.1
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• pp.23-39
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• 2022

This work deals with the two-dimensional deformation in a homogeneous isotropic nonlocal magneto-thermoelastic solid with two temperatures under the effects of inclined load at different inclinations. The mathematical model has been formulated by subjecting the bounding surface to a concentrated load. The Laplace and Fourier transform techniques have been used for obtaining the solution to the problem in transformed domain. The expressions for nonlocal thermal stresses, displacements and temperature are obtained in the physical domain using a numerical inversion technique. The effects of nonlocal parameter, rotation and inclined load in the physical domain are depicted and illustrated graphically. The results obtained in this paper can be useful for the people who are working in the field of nonlocal thermoelasticity, nonlocal material science, physicists and new material designers. It is found that there is a significant difference due to presence and absence of nonlocal parameter.

• Journal of the korean Society of Automotive Engineers
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• v.13 no.5
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• pp.51-64
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• 1991

In this paper, an attempt is made to analyze the impulsive stress directly underneath the concentrated impact point for a supported square plate by using the three-dimensional dynamic theory of elasticity and the potential theory of displacement (stress function) on the supposition that the load, F$_{*}$0 sin .omega.t, acted on the central part of it. The results obtained from this study are as follows: 1. The impulsive stress cannot be analyzed directly underneath the acting point of concenrated impact load in privious theories, but can be analyzed by using the three-dimensional dynamic theory of elasticity and the potential theory of displacement. 2. Theorically, with increasing the pulse width of applied load, it was possible to clarify that the amount of stress in the point of concentrated impact load was increased and that of stress per unit impulse was decreased. 3. The numerical inversion of laplace transformation by the use of the F.F.T algorithm contributes the reduction of C.P.U time and the improvement of the accuracy or results. 4. In this paper recommended, it is found that the approximate equation of impact load function P (.tau.) = A.tau. exp (-B.tau.), and P (.tau.) =0.85A exp (-B.tau.) sinC.tau. could actually apply to all impact problem. In compared with the experimental results, the propriety of the analytical method is reasonable.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.32 no.4
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• pp.249-256
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• 2019

This paper presents an optimization framework of electrical impedance tomography for characterizing electrical conductivity profiles of concrete structures in two dimensions. The framework utilizes a partial-differential-equation(PDE)-constrained optimization approach that can obtain the spatial distribution of electrical conductivity using measured electrical potentials from several electrodes located on the boundary of the concrete domain. The forward problem is formulated based on a complete electrode model(CEM) for the electrical potential of a medium due to current input. The CEM consists of a Laplace equation for electrical potential and boundary conditions to represent the current inputs to the electrodes on the surface. To validate the forward solution, electrical potential calculated by the finite element method is compared with that obtained using TCAD software. The PDE-constrained optimization approach seeks the optimal values of electrical conductivity on the domain of investigation while minimizing the Lagrangian function. The Lagrangian consists of least-squares objective functional and regularization terms augmented by the weak imposition of the governing equation and boundary conditions via Lagrange multipliers. Enforcing the stationarity of the Lagrangian leads to the Karush-Kuhn-Tucker condition to obtain an optimal solution for electrical conductivity within the target medium. Numerical inversion results are reported showing the reconstruction of the electrical conductivity profile of a concrete specimen in two dimensions.