• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1651-1656
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• 2005

This paper describes a natural frequency analysis conducted to find out a suitable working area for a spring-manipulator system generating a large vibrating force with mechanical resonance. Large force generation is one of the functions that we hope for a robot. For example, a weeding robot is required to generate a large force, because some weeds have roots spreading deeply and tightly. The spring-manipulator system has a spring element as an end-effector, so it can be in a state of resonance with the elasticity of the spring element and the inertial characteristics of the manipulator. A force generation method utilizing the mechanical resonance has potential to produce a large force that cannot be realized by a static method. A method for calculating a natural frequency of a spring-manipulator system with the generalized inertia tensor is proposed. Then the suitable working area for the spring-manipulator system is identified based on a natural frequency analysis. If a spring-manipulator system operates in the suitable working area, it can sustain mechanical resonance and generate a large vibrating force. Moreover, it is shown that adding a mass at the tip of the manipulator expands the suitable working area.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2038-2046
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• 1997

In this paper the instability of the system which has a disk and a mass-spring-damper system interacting through a medium having stiffness and damping is analyzed. To solve the equations of motion of this systme, it is assumed that the solution consists of the eigenfunctions which are the products of the Bessel functions and sine or cosine functions. The former represents the radial characteristics of the disk and the latter represents the circumferential characteristics. Using this assumed solution and the orthogonality of the eigenfunctions, the equations of motion can be transformed into a set of equations of motion with variables dependent only on the time. After this set is changed to the state equation, the eigenvalue problem can be made. Once the eigenvalues are calculated according to the angular velocity of the disk, the dynamic characteristics ofthis system is obtained. Because the thickness of the disk and the element characteristics of the mass-spring-damper system have important effects on the stability of the system, it will be understood how these factors affect the system and then a method to ameliorate the stability of the system with a disk will be presented.

• Structural Engineering and Mechanics
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• 제69권6호
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• pp.699-712
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• 2019

A cable-stayed bridge (CSB) is one of the most complicated structures, especially when subjected to earthquakes and taking into consideration the effect of soil-structure-interaction (SSI). A CSB of a 500 m mid-span was modeled by the SAP2000 software and was subjected to four different earthquakes. To mitigate the harmful effect of the vibration generated from each earthquake, four mitigation schemes were used and compared with the non-mitigation model to determine the effectiveness of each scheme, when applying on the SSI or fixed CSB models. For earthquake mitigation, tuned mass damper (TMD) systems and spring dampers with different placements were used to help reduce the seismic response of the CBS model. The pylons, the mid-span of the deck and the pylon-deck connections are the best TMDs and spring dampers placements to achieve an effective reduction of the earthquake response on such bridges.

• Journal of Advanced Marine Engineering and Technology
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• 제22권3호
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• pp.362-370
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• 1998

Absorption systems require a heat source for working but they have a great merit in that relatively low-temperature and low-quality types of thermal energy such as solar heat and exhaust heat can be effectively utilized as heat source. However details research related to absorbers which have a great effect on performances has been rarely done and thus there has been a strong hope for positive developments to improve their efficiencies. This paper describes absorption experiments made with different inside tube diameters and shapes. The purpose of this study is to acquire basic knowledge about heat and mass transfer in a falling film type absorber with vertical inner tubes. Heat and mass transfer were measured for water vapor absorption into a water/LiBr solution flowing down an absorber of vertical inner tubes. As a result absorption acceleration tube compares bare tube and heat transfer improved by order of insert spring tube corrugated tube grooved tube. And the acceleration that is good provided in inserting spring tube for both sides of heat and mass transfer.

• Coupled systems mechanics
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• 제2권4호
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• pp.303-327
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• 2013

The coupled free vibration of flexible structures and on-board liquid in zero gravity space was analyzed, considering the spacecraft main body as a rigid mass, the flexible appendages as two elastic beams, and the on-board liquid as a "spring-mass" system. Using the Lagrangians of a rigid mass (spacecraft main body), "spring-mass" (liquid), and two beams (flexible appendages), as well as assuming symmetric motion of the system, we obtained the frequency equations of the coupled system by applying Rayleigh-Ritz method. Solving these frequency equations, which are governed by three system parameters, as an eigenvalue problem, we obtained the coupled natural frequencies and vibration modes. We define the parameter for evaluating the magnitudes of coupled motions of the added mass (liquid) and beam (appendages). It was found that when varying one system parameter, the frequency curves veer, vibration modes exchange, and the significant coupling occurs not in the region closest to the two frequency curves but in the two regions separate from that region.

• 한국멀티미디어학회논문지
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• 제14권10호
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• pp.1262-1274
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• 2011

이미지 모핑의 실제적인 시뮬레이션을 위해서는 빠르고 안정적인 이미지 변형모델이 필수적이다. 질량-스프링 시스템은 실시간 변형의 애니메이션 분야에서 널리 사용되고 있지만, 큰 변형이 요구되는 이미지모핑에서는 불안정한 특성을 보인다. 논문에서는 이미지 변형의 안정적인 결과를 얻기 위해, 메시상의 각노드의 x와 y성분 변위 값을 계산하는 얇은 막 질량-스프링 시스템을 내부적으로 사용한다. 얇은 막 질량-스프링 시스템의 방향 제한 때문에, 안정적이고 더 넓은 범위에서 부드럽게 이미지가 변형된 결과를 얻을수 있다. 일대일 변형은 이미지 모핑에서 중요한 분야 중의 하나이다. 본 논문에서는 이미지의 변형과정에서 발생하는 겹침을 빠르게 제거하는 방안에 중점을 둔다. 겹침을 빠르게 제거하기 위해, 겹침이 발생한 노드의 이웃 4개 또는 8개 노드에 외부 힘을 자동으로 부가하는 방안을 제안한다. 4개 또는 8개의 이웃 노드에 외부 힘을 부가하는 경우는 2개의 이웃 노드에 외부 힘을 부가하는 경우에 비해 겹침의 제거 속도가 크게 향상된다.

• Structural Engineering and Mechanics
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• 제57권6호
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• pp.989-1014
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• 2016

This paper deals with the analysis of the natural frequencies, mode shapes of an axially loaded beam system carrying ends consisting of non-concentrated tip masses and three spring-two mass sub-systems. The influence of system design and sub-system parameters on the combined system characteristics is the major part of this investigation. The effect of material properties, rotary inertia and shear deformation of the beam system is included. The end masses are elastically supported against rotation and translation at an offset point from the point of attachment. Sub-systems are attached to center of gravity eccentric points out of the beam span. The boundary conditions of the ordinary differential equation governing the lateral deflections and slope due to bending of the beam system including developed shear force frequency dependent terms, due to the sub.system suspension, have been formulated. Exact formulae for the modal frequencies and the modal shapes have been derived. Based on these formulae, detailed parametric studies are carried out. The geometrical and mechanical parameters of the system under study have been presented in non-dimensional analysis. The applied mathematical model is presented to cover wide range of mechanical, naval and structural engineering applications.

• 한국지능시스템학회논문지
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• 제11권4호
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• pp.347-353
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• 2001

본 논문은 기존의 시간 지연 제어 기법을 이용하여 TSK 모델 퍼지 제어 시스템의 안정화에 적용하는 방법을 제시한다. TSK 모델 퍼지 시스템이 기존의 PDC 방법에 의하여 안정화되어지는 경우 발생하게 되는 LMI 문제를 피하기 위하여 시간 지연 방법에 의한 새로운 안정화 조건이 다루어진다. 제시되어진 방법은 mass-spring-damper 시스템에 적용되어 적용가능성이 평가된다.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.389-394
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• 2014

This paper presents the effect of a reflective force computed from a first-order-hold method on the stability of a haptic system. A haptic system is composed of a haptic device with a mass and a damper, a virtual spring, a sampler and a sample-and-hold. The boundary condition of the maximum virtual stiffness is analytically derived by using the Routh-Hurwitz criterion and the condition shows that the maximum virtual stiffness is proportional to the square root of the mass and the damper of a haptic device and also is inversely proportional to the sampling time to the power of three over two. The effectiveness of the derived condition is evaluated by the simulation. When the reflective forces are computed by using the first-order-hold method, the maximum available stiffness to guarantee the stability is increased several hundred times as large as when the zero-order-hold method is applied.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1607-1613
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• 2006

GIS (Gas Insulated Switchgear) is used in electric power system to insure non conductivity, breaking capacity and operating reliability. In the present study, dynamic analysis on the closing resistors of the GIS has bees carried out by the commercial dynamic analysis code COSMOS MOTION and 3-D modeling program SOLID WORKS. In order to find the minimum value of chatter vibration of closing resistors, the motion of moving and fixed resistor parts of closing resistors were simulated by varying the spring constant, the damping coefficient and the mass of moving and fixed resistor parts. The simulated results were compared with experimental results. The application of the results could reduce chatter vibration of closing resistors of the GIS. These data are also useful on the development of future model GIS with minimum chatter vibration for the determinations of the spring constant, the damping coefficient and mass of a moving part.