• Structural Engineering and Mechanics
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• v.54 no.4
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• pp.607-622
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• 2015

This paper presents a comparative study of analytical method and finite element method (FEM) for analysis of a continuous contact problem. The problem consists of two elastic layers loaded by means of a rigid circular punch and resting on semi-infinite plane. It is assumed that all surfaces are frictionless and only compressive normal tractions can be transmitted through the contact areas. Firstly, analytical solution of the problem is obtained by using theory of elasticity and integral transform techniques. Then, finite element model of the problem is constituted using ANSYS software and the two dimensional analysis of the problem is carried out. The contact stresses under rigid circular punch, the contact areas, normal stresses along the axis of symmetry are obtained for both solutions. The results show that contact stresses and the normal stresses obtained from finite element method (FEM) provide boundary conditions of the problem as well as analytical results. Also, the contact areas obtained from finite element method are very close to results obtained from analytical method; disagree by 0.03-1.61%. Finally, it can be said that there is a good agreement between two methods.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1587-1592
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• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• Structural Engineering and Mechanics
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• v.19 no.4
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• pp.425-440
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• 2005

In this paper, the behavior of a crack between two half-planes of functionally graded materials subjected to arbitrary tractions is resolved using a somewhat different approach, named the Schmidt method. To make the analysis tractable, it is assumed that the Poisson's ratios of the mediums are constants and the shear modulus vary exponentially with coordinate parallel to the crack. By use of the Fourier transform, the problem can be solved with the help of two pairs of dual integral equations in which the unknown variables are the jumps of the displacements across the crack surfaces. To solve the dual integral equations, the jumps of the displacements across the crack surfaces are expanded in a series of Jacobi polynomials. This process is quite different from those adopted in previous works. Numerical examples are provided to show the effect of the crack length and the parameters describing the functionally graded materials upon the stress intensity factor of the crack. It can be shown that the results of the present paper are the same as ones of the same problem that was solved by the singular integral equation method. As a special case, when the material properties are not continuous through the crack line, an approximate solution of the interface crack problem is also given under the assumption that the effect of the crack surface interference very near the crack tips is negligible. It is found that the stress singularities of the present interface crack solution are the same as ones of the ordinary crack in homogenous materials.

• Journal of Science of Art and Design
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• v.11
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• pp.221-249
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• 2007

Today, photography is facing to the crisis of identity and dilemma of ontology from the digital imaging process in the new technology form. It is very important points to say rethinking of the traditional photographic medium, that has changed the way we view the world and ourselves is perhaps an understatement and that photography has transformed our essential understanding of reality. Now, no longer are photographic images regarded as the true automatic recording, innocent evidence and the mirror to the reality. Rather, photography constructs the world for our entertainment, helping to create the comforting illusions by which we live. The recognition that photographs are not constructions and reflections of reality, is the basis for the actual presence within the contemporary photographic world. It is shock. This thesis's aim is to look for the problems of photographic identity and ontological crisis that is controlling and regulating digital photographic imagery, allowing the reproduction of the electronic simulations era. Photography loses its special aesthetic status and becomes no more true information and, exclusively evidence by traditional film and paper that appeared both as a technological accuracy and as a medium-specific aesthetic. The result, photography is facing two crises, one is the photographic ontology(the introduction of computerized digital images) and the other is photographic epistemology(having to do broader changes in ethics, knowledge and culture). Taken together, these crises apparently threaten us with the death of photography, with the 'end' of photography and the culture it sustains. The thesis's meaning is to look into the dilemma of photography's ontology and epistemology, especially, automatical index and digital codes from its origin, meaning, and identity as the technological medium. Thus, in particular, thesis focuses on the analog imagery presence, from the nature in the material world, and the digital imagery presence from the cultural situations in our society. And also thesis's aim is to examine the main issues of the history of photography has been concentrated on the ontological arguments since the discovery of photography in 1839. Photography has never been only one static technology form. Rather, its nearly two centuries of technological development have been marked by numerous, competing of technological innovation and self revolution from the dual aspects. This thesis examines recent account of photography by the analysis of the medium's concept, meaning, identity between film base image and digital base image from the aspects of photographic ontology and epistemology. Thus, the structure of thesis is fairy straightforward to examine what appear to be two opposing view of photographic conditions and ontological situations. Thesis' view contrasts that figure out the value of photography according to its fundamental characteristic as a medium. Also, it seeks a possible solution to the dilemma of photographic ontology through the medium's origin from the early years of the nineteenth century to the raising questions about the different meaning(analog/digital) of photography, now. Finally, this thesis emphasizes and concludes that the photographic ontological crisis reflects to the paradoxical dynamic structure, that unsolved the origins of the medium, itself. Moreover, even photography is not single identity of the photographic ontology, and also can not be understood as having a static identity or singular status from the dynamic field of technologies, practices, and images.