• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.245-248
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• 2010

Almost all of control schemes proposed so far have been designed in the continuous-time domain theoretically. Actual systems, however, have been implemented in the discrete-time domain since Micro Control Unit(MCU) and/or microprocessors have been used for the controllers. Thus, the overall system turned to be a sampled-data system, and generally speaking, the ultimate error cannot converge to zero in the actual system even though the proposed control algorithm showed the asymptotic stability in the continuous-time domain. In this paper, therefore, the ultimate error bound of a sampled data system with a short sampling period has been investigated. The ultimate error is shown to be related in the sampling period.

• Structural Engineering and Mechanics
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• 제30권3호
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• pp.351-368
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• 2008

The purpose of this paper is to propose a simple analysis method of axial deformation of base-isolation rubber bearings in a building subjected to earthquake loading and present its applicability to the analysis of the bound of the aspect ratio of base-isolated buildings. The base shear coefficient is introduced as a key parameter for the bound analysis. The bound of the aspect ratio of base-isolated buildings is analyzed based on the relationship of the following four quantities; (i) ultimate state of the tensile stress of rubber bearings based on a proposed simple recursive analysis for seismic loading, (ii) ultimate state of drift of the base-isolation story for seismic loading, (iii) ultimate state of the axial compressive stress of rubber bearings under dead loads, (iv) prediction of the overturning moment at the base for seismic loading. In particular, a new recursive analysis method of axial deformation of rubber bearings is presented taking into account the nonlinear tensile behavior of rubber bearings and it is shown that the relaxation of the constraint on the ultimate state of the tensile stress of rubber bearings increases the limiting aspect ratio.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1998년도 가을 학술발표논문집(II)
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• pp.405-411
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• 1998

An iterative numerical computational algorithm is presented to design a plate of shell element subjected to membrane and flexural forces. Based on equilibrium consideration, equations for capacities of top and bottom reinforcements in two orthogonal directions have been derived. The amount of reinforcement is determined locally, i. e., for each sampling point, from the equilibrium between applied and internal forces. One case of design is performed for a hyperbolic paraboloid saddle shell (originally used by Lin and Scordelis) to check the design strength against a consistent design load, therefore, to verify the adequacy of design practice for reinforced concrete shells. Based on nonlinear analyses performed, the analytically calculated ultimate load exceeded the design ultimate load from 14-43% for an analysis with relatively low to high tension stiffening, ${\gamma}$ =5~20 cases. For these cases, the design method gives a lower bound on the ultimate load with respect to Lower bound theorem. This shows the adequacy of the current practice at least for this saddle shell case studied. To generalize the conclusion many more designs-analyses are performed with different shell configurations.

• Structural Engineering and Mechanics
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• 제14권2호
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• pp.171-190
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• 2002

Two cases of design are performed for the hyperbolic paraboloid saddle shell (Lin-Scordelis saddle shell) and the hyperbolic cooling tower (Grand Gulf cooling tower) to check the design strength against a consistent design load, therefore to verify the adequacy of the design algorithm. An iterative numerical computational algorithm is developed for combined membrane and flexural forces, which is based on equilibrium consideration for the limit state of reinforcement and cracked concrete. The design algorithm is implemented in a finite element analysis computer program developed by Mahmoud and Gupta. The amount of reinforcement is then determined at the center of each element by an elastic finite element analysis with the design ultimate load. Based on ultimate nonlinear analyses performed with designed saddle shell, the analytically calculated ultimate load exceeded the design ultimate load from 7% to 34% for analyses with various magnitude of tension stiffening. For the cooling tower problem the calculated ultimate load exceeded the design ultimate load from 26% to 63% with similar types of analyses. Since the effective tension stiffening would vary over the life of the shells due to environmental factors, a degree of uncertainty seems inevitable in calculating the actual failure load by means of numerical analysis. Even though the ultimate loads are strongly dependent on the tensile properties of concrete, the calculated ultimate loads are higher than the design ultimate loads for both design cases. For the cases designed, the design algorithm gives a lower bound on the design ultimate load with respect to the lower bound theorem. This shows the adequacy of the design algorithm developed, at least for the shells studied. The presented design algorithm for the combined membrane and flexural forces can be evolved as a general design method for reinforced concrete plates and shells through further studies involving the performance of multiple designs and the analyses of differing shell configurations.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 봄 학술발표회 논문집
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• pp.501-506
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• 2000

An iterative numerical computational algorithm is presented to design a plate or shell element subjected to membrane and flexural forces. Based on equilibrium consideration, equations for capacities of top and bottom reinforcements in two orthogonal directions have been derived. The amount of reinforcement is determined locally, i.e., for each sampling point, from the equilibrium between applied and internal forces. Based on nonlinear analyses performed in a hyperbolic cooling tower, the analytically calculated ultimate load exceeded the design ultimate load from 50% to 55% for an analysis with relatively low to high tension stiffening, cases $\gamma$=10 and 15. For these cases, the design method gives a lower bound on the ultimate load with respect to Lower bound theorem, This shows the adequacy of th current practice at least for this cooling tower shell case studied. To generalize the conclusion more designs - analyses should be reformed with different shell configurations.

• 한국지반공학회논문집
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• 제22권9호
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• pp.23-36
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• 2006

본 연구는 사질토 지반에 근입되어 있는 벽체의 극한지지력을 구하기 위해 새로운 근사적인 해석법의 전개과정에 대해 설명한다. 이러한 근사적인 형태의 해석기법은 상계 및 하계법으로 구성되어 있다. 상 하계법으로 계산된 값은 소성영역에서 구해진 2차원 실내벽체모형의 하중재하시험 및 유한요소해석 결과와 비교하였다. 비교 결과, 모형실험과 유한요소해석으로부터 구한 극한하중 값은 상계와 하계 사이에 모두 분포하는 것으로 나타났다. 이러한 비교에서 특이 할 사항은 하계법으로 구한 벽체의 극한하중이 모형실험 및 유한요소해석에서 구한 극한하중과 잘 일치되는 것을 보여 주었다. 그러나, 평면변형률 조건에서 기존의 경험적인 식에 의한 계산에서 얻어진 극한하중은 하계법의 극한하중에 훨씬 못 미치는 것으로 나타났다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.344-346
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• 1992

In this paper a robust hybrid control algorithm for n-link nonredundant robot manipulators is proposed. This scheme includes an estimation law for the upper bound on the uncertainty such that robust control input is updated as a function of the estimated upper bound. The uniform ultimate boundedness of the tracking error is generated by the Lyapunov based theory.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1998년도 가을 학술발표논문집(II)
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• pp.456-461
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• 1998

This paper presents the results from a combination of strut-and-tie model and analytical study that investigated the ultimate strength of wall system with frame supports. Strut-and-tie models show reasonable force flows and upper bound solution is compared to the results from FEM analysis. The results shows that two main parameters - transfer girder depth and column width - yield good estimation of the ultimate strength of the system. Vertical and horizontal reinforcements of the transfer girder add few strength to the whole system. The proposed design strength formula shows good agreement with the results from FEM analysis.

• 제어로봇시스템학회논문지
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• 제9권9호
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• pp.658-663
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• 2003

In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.

• 한국방재학회 논문집
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• 제8권2호
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• pp.51-58
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• 2008

본 연구는 전단철근이 없는 초고강도 섬유보강 콘크리트 프리스트레스 I형거더의 극한전단파괴하중 산정에 대한 이론적 근거를 마련하는데 있다. 9개의 초고강도 섬유보강 콘크리트 거더에 대한 극한 전단하중을 측정하였다. 전단하중을 산정하기 위한 해석식은 두 경계이론을 근거로 유도되었다. 섬유가 부담하는 전단력 산정모델은 섬유가 방향과 길이면에서 균일하게 분포한다는 가정하에서 구성되었다. 본 논문에서 제안한 초고강도 섬유보강 콘크리트 거더에 대한 전단강도식을 기존의 섬유보강 콘크리트 전단강도식과 실험에 의한 전단하중과 비교한 결과 비교적 정확한 산정값을 보여주었다.