• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.541-547
• /
• 2000

This paper presents the closed-form forward kinematics of the 6-6 Stewart platform of planar base and moving platform. Based on algebraic elimination method and with one extra linear sensor, it first derives an 8th-degree univariate equation and then finds tentative solution sets out of which the actual solution is to be selected. In order to provide more exact solution despite the error between measured sensor value and the theoretical one, a correction method is also used. The overall procedure requires so little computation time that it can be efficiently used for realtime applications. In addition, unlike the iterative schemes e.g. Newton-Raphson, the algorithm does not require initial estimates of solution and is free of the problems that it does not converge to actual solution within limited time. The presented method has been implemented in C language and a numerical example is given to confirm the effectiveness and accuracy of the developed algorithm.

• Earthquakes and Structures
• /
• v.17 no.3
• /
• pp.329-336
• /
• 2019

An efficient shear deformation beam theory is developed for thermo-elastic vibration of FGM beams. The theory accounts for parabolic distribution of the transverse shear strains and satisfies the zero traction boundary conditions on the on the surfaces of the beam without using shear correction factors. The material properties of the FGM beam are assumed to be temperature dependent, and change gradually in the thickness direction. Three cases of temperature distribution in the form of uniformity, linearity, and nonlinearity are considered through the beam thickness. Based on the present refined beam theory, the equations of motion are derived from Hamilton's principle. The closed-form solutions of functionally graded beams are obtained using Navier solution. Numerical results are presented to investigate the effects of temperature distributions, material parameters, thermal moments and slenderness ratios on the natural frequencies. The accuracy of the present solutions is verified by comparing the obtained results with the existing solutions.

• Smart Structures and Systems
• /
• v.9 no.2
• /
• pp.165-188
• /
• 2012

In the first part of the paper, the optimal design parameters for tuned liquid column dampers (TLCD) in harmonic pitching motion were investigated. The configurations in design tables include uniform and non-uniform TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 for the design in different situations. A closed-form solution of the structural response was used for performing numerical optimization. The results from optimization indicate that the optimal structural response always occurs when the two resonant peaks along the frequency axis are equal. The optimal frequency tuning ratio, optimal head loss coefficient, the corresponding response and other useful quantities are constructed in design tables as a guideline for practitioners. As the value of the head loss coefficient is only available through experiments, in the second part of the paper, the prediction of head loss coefficients in the form of a design chart are proposed based on a series of large scale tests in pitching base motions, aiming to ease the predicament of lacking the information of head loss for those who wishes to make designs without going through experimentation. A large extent of TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 and orifice blocking ratios ranging from 0%, 20%, 40%, 60% to 80% were inspected by means of a closed-form solution under harmonic base motion for identification. For the convenience of practical use, the corresponding empirical formulas for predicting head loss coefficients of TLCDs in relation to the cross-sectional ratio and the orifice blocking ratio were also proposed. For supplemental information to horizontal base motion, the relation of head loss values versus blocking ratios and the corresponding empirical formulas were also presented in the end.

• Structural Engineering and Mechanics
• /
• v.52 no.4
• /
• pp.787-813
• /
• 2014

Starting with Hamilton's variational principle, the governing field equations for the steady state response of thin-walled beams under harmonic forces are derived. The formulation captures shear deformation effects due to bending and warping, translational and rotary inertia effects and as well as torsional flexural coupling effects due to the cross section mono-symmetry. The equations of motion consist of four coupled differential equations in the unknown displacement field variables. A general closed form solution is then developed for the coupled system of equations. The solution is subsequently used to develop a family of shape functions which exactly satisfy the homogeneous form of the governing field equations. A super-convergent finite element is then formulated based on the exact shape functions. Key features of the element developed include its ability to (a) isolate the steady state response component of the response to make the solution amenable to fatigue design, (b) capture coupling effects arising as a result of section mono-symmetry, (c) eliminate spatial discretization arising in commonly used finite elements, (d) avoiding shear locking phenomena, and (e) eliminate the need for time discretization. The results based on the present solution are found to be in excellent agreement with those based on finite element solutions at a small fraction of the computational and modelling cost involved.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.19 no.4
• /
• pp.981-989
• /
• 1995

A new weight function approach to determine SIF(stress intensity factor) using single-layer potential has been presented. The crack surface displacement field was represented by one boundary integral term whose kernel was modified from Kelvin's fundamental solution. The proposed method enables the calculation of SIF using only one SIF solution without any modification for the crack geometries symmetric in two-dimensional plane such as a center crack in a plate with or without an internal hole, double edge cracks, circumferential crack or radial cracks in a pipe. The application procedure to those crack problems is very simple and straightforward with only one SIF solution. The necessary information in the analysis is two reference SIFs. The analysis results using present closed-form solution were in good agreement with those of the literature.

• Korean Management Science Review
• /
• v.25 no.3
• /
• pp.1-12
• /
• 2008

The Swaption is one of the popular Interest rates derivatives. In spite of such a popularity, the swaption pricing formula is hard to derived within the theoretical consistency. Most of swaption pricing model are heavily depending on the simulation technique. We present a new class of swaption model based on the multi-factor HJM levy-mixture model. A key contribution of this paper is to provide a generalized swaption pricing formula encompassing many market stylize facts. We provide an approximated closed form solution of the swaption price using the Gram-Charlier expansion. Specifically, the solution form is similar to the market models, since our approximation is based on the Lognormal distribution. It can be directly compared with the traditional Black's formula when the size of third and fourth moments are not so large. The proposed extended levy model is also expected to be capable of producing the volatility smiles and skewness.

• International Journal of Aeronautical and Space Sciences
• /
• v.18 no.4
• /
• pp.729-739
• /
• 2017

The objective of this study was to optimize minimum-energy impulsive spacecraft intercept using genetic algorithms. A mathematical model was established on two-body system based on f and g solution and universal variable to address spacecraft intercept problem for non-coplanar elliptical orbits. This nonlinear problem includes many local optima due to discontinuity and strong nonlinearity. In addition, since it does not provide a closed-form solution, it must be solved using a numerical method. Therefore, the initial guess is that a very sensitive factor is needed to obtain globally optimal values. Genetic algorithms are effective for solving these kinds of optimization problems due to inherent properties of random search algorithms. The main goal of this paper was to find minimum energy solution for orbit transfer problem. The numerical solution using initial values evaluated by the genetic algorithm matched with results of Hohmann transfer. Such optimal solution for unrestricted arbitrary elliptic orbits using universal variables provides flexibility to solve orbit transfer problems.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.913-917
• /
• 1989

In this paper, the selection method of weighting matrices in the discrete-time LQ problem are suggested in order to improve the guaranteed stability margins, i.e. the gain and phase margins. The asymptotic properties of the solution of the algebraic Riccati equations are investigated by using the closed form solution of the difference Riccati equations. It is shown that the solution of the algebraic Riccati equations monotonically increases as the state weighting matrix Q or the control weighting matrix R increase. The increasing rate of the solution is shown to be much less than that of R for large R. It is also proven that the guaranteed stability margins increases as the ratio between Q and R decreases.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.7
• /
• pp.2205-2212
• /
• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• Steel and Composite Structures
• /
• v.29 no.4
• /
• pp.483-491
• /
• 2018

Timoshenko beam model is widely exploited in the literature to examine the mechanical behavior of stubby beam-like components. Timoshenko beam theory is well-known to require the shear correction factor in order to recognize the nonuniform shear distribution at a section. While a variety of shear correction factors are appeared in the literature so far, there is still no consensus on the most appropriate form of the shear correction factor. The Saint-Venant's flexure problem is first revisited in the frame work of the classical theory of elasticity and a highly accurate approximate closed-form solution is presented employing the extended Kantorovich method. The resulted approximate solution for the elasticity field is then employed to introduce two shear correction factors consistent with the Cowper's and energy approaches. The mathematical form of the proposed shear correction factors are then simplified and compared with the results available in the literature over an extended range of Poisson's and aspect ratios. The proposed shear correction factors do not exhibit implausible issue of negative values and do not result in numerical instabilities too. Based on the comprehensive discussion on the shear correction factors, a piecewise definition of shear correction factor is introduced for rectangular cross-sections having excellent agreement with the numerical results in the literature for both shallow and deep cross-sections.