• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.127-130
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• 1989

The redundant manipulator extends the application fields of classical nonredundant manipulators. In this paper, we propose Premultiplier Model that describes the static behavior of redundant manipulator. This model provides insight and intuition about algebra and physics related to redundant manipulators. Active operational space stiffness control of redundant manipulators is proved to be always unstable and we propose a technique, based on our methodology, to make stiffness control stable.

• Journal of KSNVE
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• v.8 no.5
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• pp.887-899
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• 1998

It has been resulted that Lagrange multiplier method with statistical approach was superior to traditional harmonic balance method in identifying the nonlinear loudspeaker parameters when output signals were contaminated with Gaussian random noise. We have known that the displacement-dependent characteristic values of nonlinear parameters identified by traditional harmonic balance method were estimated less than original values by the increase of output noise and the stiffness coefficients were very sensitive to output noise. Also, by the sensitivity analysis we have verified that the harmonic distortions in acoustic radiation was mainly due to nonlinearity of force factor caused by uneven magnetic fields and that reducing the nonlinearity of damping coefficients were very effective for improving second harmonic distrotion of acoustic radiation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.312-317
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• 1997

This paper present an optimum design for the rotor-bearing system of a high-speed (80000RPM) ultra-centrifuge supported by ball bearings with nonlinear stiffness characteristics. To obtain the nonlinear bearing stiffnesses, a ball bearing is modelled in five degrees of freedom and is analyzed quasi-statically. The dynamic behaviors of the nonlinear rotor-bearing system are analyed by using a transfer-matrix method iteratively. For optimum design, minimizing the weight of a rotor is used as a cost function and the Augmented Lagrange Multiplier (ALM) method is employed. The result shows that the rotor-bearing system is optimized to obtain 8% weight reduction.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.145-152
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• 1998

This paper presents an optimum design of a rotor-bearing spindle system for a ultra centrifuge (80,000 RPM) supported by ball bearings with nonlinear stiffness characteristics. To obtain the nonlinear bearing stiffnesses, a ball bearing is modeled in five degrees of freedom and is analyzed quasi-statically. The dynamic behaviors of the nonlinear rotor-bearing system are analyzed by using a transfer-matrix method iteratively. For optimization. we use the cost function that simultaneously minimizes the weight of a rotor and maximizes the separation margins to yield the critical speeds as far from the operating speed as possible. Augmented Lagrange Multiplier (ALM) method is employed for the nonlinear optimization problem. The result shows that the rotor-bearing spindle system is optimized to obtain 9.5％ weight reduction and 21％ separation margin.

• Journal of the Korean Geotechnical Society
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• v.27 no.7
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• pp.47-57
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• 2011

The p-y curve has been used to design pile foundations subjected to lateral loading. Although the p-y curve has a large influence on the pile lateral behavior, p-y curves have not been clearly suggested. In this study, the p-y curve of clay was evaluated for drilled shafts in marine deposits by using 3-dimensional numerical analyses. First, the optimization study was performed to properly determine boundary extent, mesh size, and interface stiffness. The numerical modeling in the study was verified by comparing the calculated and the pile loading test results. Then, the p-y curves of single and group piles were evaluated from the parametric study. The selected parameters were pile diameter, pile Young's modulus and pile head fixed condition for a single pile, and pile spacing for group piles. Finally, the p-multiplier was evaluated by comparing the p-y curves of a single pile and group piles. As a result, the p-multiplier at pile spacing of 3D was 0.83, 0.67 and 0.78 for the front, middle, and back row piles, respectively, and showed values similar to those of O'Neill and Reese (1999). For the pile group with pile spacing larger than 60, the group effect can be ignorable.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.53-58
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• 2001

This paper presents a high resolution capacitive microaccelerometer for applications to personal information systems. We reduce the mechanical noise level of the microaccelerometer by increasing the proof-mass based on deep RIE process. We reduce the electrical noise level by increasing the amplitude of an AC sense voltage. The high sense voltage is obtained by DC-to-DC voltage multiplier. In order to solve the nonlinearity problem caused by the high sense voltage, we modify the conventional comb electrode of straight finger type into that of branched finger type, resulting in self force-balancing effects for enhanced detection linearity. The proposed branched finger capacitive microaccelerometer was fabricated by the deep RIE process of an SOI wafer. The fabricated microaccelerometer reduces the electrical noise at the level of $2.4{\mu}g/\sqrt{Hz}$ for the sense voltage of l6.5V, which is 10.1 times smaller than the electrical noise level of $24.3{\mu}g/\sqrt{Hz}$ at 0.9V. For the sense voltage higher than 2V, the electrical noise level of the microaccelerometer became smaller than the constant mechanical noise level of $11{\mu}g/\sqrt{Hz}$. Total noise level, including the electrical noise and the mechanical noise, has been measured as $9{\mu}g/\sqrt{Hz}$ for the sense voltage of 16.5V, which is 3.2 times smaller than the total noise of $28.6{\mu}g/\sqrt{Hz}$ for the sense voltage of 0.9V. The self force-balancing effect results in the increased stiffness of 1.98 N/m at the sense voltage of 17.8V, compared to the stiffness of 1.35 N/m at 0V, thereby generating the additional stiffness at the rate of $0.002N/m/V^{2}$.

• Coupled systems mechanics
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• v.2 no.4
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• pp.349-374
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• 2013

In this work we propose a novel procedure for direct computation of buckling loads for extreme mechanical or thermomechanical conditions. The procedure efficiency is built upon the von Karmann strain measure providing the special format of the tangent stiffness matrix, leading to a general linear eigenvalue problem for critical load multiplier estimates. The proposal is illustrated on a number of validation examples, along with more complex examples of interest for practical applications. The comparison is also made against a more complex computational procedure based upon the finite strain elasticity, as well as against a more refined model using the frame elements. All these results confirm a very satisfying performance of the proposed methodology.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.719-724
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• 2001

The study on reducing vehicle noise and vibration has gained much attention to ensure the comfortability as well as the safety. These days. in this paper, we applied Statistical Energy Analysis(SEA) to characterize the tire assembly, which is useful analytical tool for mid- and high-frequency range. First, the SEA tire model was developed by dividing the tire and the wheel into several subsystems. The material properties were estimated experimentally. Finally. the SEA model was validated by comparing the estimated and the measured. In addition, we investigated the energy level and the energy transfering paths through the tire assembly in different frequency region.

• Transactions of the Korean Society of Automotive Engineers
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• v.1 no.3
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• pp.74-82
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• 1993

Optimal designs of a 3-point and a 4-point engine mount system are presented for reducing the idle shake of a Front Wheel Drive(FWD) vehicle. Design variables used in this study are the locations, the angles and the stiffness of an engine mount system. The goal of the optimization is minimizing the transmitted force without violating the constraints such as static weight sag, resonant frequency and side limits of design variables. The Augmented Lagrange Multiplier(ALM) Method is used for solving the nonlinear constrained optimization. The generalized Jacobi and the impedence method are employed for a free vibration analysis and a forced response analysis. The trend of analysis results well meet that of the experimental results. The optimization results reveal that the 4-point system transmits less torque than the 3-point system. It is also found from the design sensitivity analysis that the vibration characteristics of the 4-point system is less sensitive than those of the 3-point system.

• Geomechanics and Engineering
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• v.28 no.1
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• pp.11-23
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• 2022

The response of pile foundations under lateral loads are usually analyzed using beam-on-nonlinear-Winkler-foundation (BNWF) model framework employing various forms of empirically derived p-y curves and p-multipliers. In practice, the p-y curve presented by the American Petroleum Institute (API) is most often utilized for piles in granular soils, although its shortcomings are recognized. The objective of this study is to evaluate the performance of the BNWF model and to quantify the error in the estimated pile response compared to a rigorous numerical model. BNWF analyses are performed using three sets of p-y curves to evaluate reliability of the procedure. The BNWF model outputs are compared with results of 3D nonlinear finite element (FE) analysis, which are validated via field load test measurements. The BNWF model using API p-y curve produces higher load-displacement curve and peak bending moment compared with the results of the FE model, because empirical p-y curve overestimates the stiffness and underestimates ultimate resistance up to a depth equivalent to four times the pile diameter. The BNWF model overestimates the peak bending moment by approximately 20-30% using both the API and Reese curves. The p-multipliers are revealed to be sensitive on the p-y curve used as input. These results highlight a need to develop updated p-y curves and p-multipliers for improved prediction of the pile response under lateral loading.