• 한국전자통신학회논문지
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• 제5권5호
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• pp.541-546
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• 2010

유연한 로봇팔은 모터에 의해 관절 축을 회전할 때 진동이 발생한다. 유연한 팔이 원하는 각으로 회전하면서 동시에 팔 끝의 진동이 안정화되도록 제어하였다. 본 논문에서 유연한 로봇팔의 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, 섹터 내부에 연속입력함수를 가진 슬라이딩 섹터이론을 이용하여 히스테리시스 사구간을 가진 비선형 제어기를 제안한다.

• 한국전자통신학회논문지
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• 제4권3호
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• pp.236-242
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• 2009

2관절 유연한 로봇 팔는 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, $\dot{D}$-2C가 skew symmetric이다는 사실을 사용하여 계산량을 줄이는 단순한 구조의 새로운 제어기를 제안한다. Lyapunov 안정도 이론은 관절을 조절하기 위한 안정한 확정적인 비선형 제어기를 성취하기 위하여 적용된다.

• 충청수학회지
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• 제24권2호
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• pp.239-245
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• 2011

In this paper, we will study the tension field of the function related to a Riemannain submersion ${\pi}\;:\;N{\rightarrow}M$ with totally geodesic fibres. In case that the Riemannain submersion ${\pi}\;:\;N{\rightarrow}M$ particularly has a smooth map $f\;:\;M{\rightarrow}N$ which happens to be a section, we will show that tension field ${\tau}(f)$ of the energy functional can be decomposed into the horizontal and vertical parts.

• Journal of applied mathematics & informatics
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• 제41권3호
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• pp.603-613
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• 2023

In this paper, the concept of geodesic centered tractography is explored for diffusion tensor imaging (DTI). In DTI, where geodesics has been tracked and the inverse of the fourth-order diffusion tensor is inured to determine the diversity. Specifically, we investigated geodesic tractography technique for High Angular Resolution Diffusion Imaging (HARDI). Riemannian geometry can be extended to a direction-dependent metric using Finsler geometry. Euler Lagrange geodesic calculations have been derived by Finsler geometry, which is expressed as HARDI in sixth order tensor.

• Journal of applied mathematics & informatics
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• 제42권1호
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• pp.85-92
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• 2024

In this work we give the necessary and sufficient conditions for f-biharmonic curves in three-dimensional generalized symmetric spaces.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1993년도 춘계학술대회논문집; 한국과학연구소, 21 May 1993
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• pp.52-56
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• 1993

An efficient method is presented for determining transient responses of locally nonlinear structures using substructure eigenproperties and Lagrange multiplier technique. The method is based upon the mode synthesis formulation procedure, but does not construct the equations of motion of the combined whole structure compared with the conventional methods. For modal bases of each linear substructure, either fixed or free interface modes can be employed. The transient analysis is based upon the recurrence discrete-time state equations and offers the simplicity of the Euler integration method without requiring small time increment and iterative solution procedure. Numerical examples reveal that the method is very accurate and efficient in calculating transient responses compared with the direct numerical integration method.

• 대한기계학회논문집A
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• 제25권11호
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• pp.1820-1828
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• 2001

The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.

• 대한조선학회지
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• 제23권1호
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• pp.23-32
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• 1986

By virtue of an application of the receptance method, simplified formulae to calculate natural frequencies of stiffened plates having a resiliently mounted or concentrated mass are obtained. Some numerical results are compared with those based on Lagrange's equation of motion and with experimental results. For the problem formulation the stiffened plate is reduced to an equivalent orthotropic plate, a resiliently mounted mass to a spring-mass system, and mode shapes of the plate are assumed with comparison functions consisting of Euler beam functions. The proposed formulae give results in good conformity to both numerical results based on Lagrange's equation of motion and experimental results for in-phase modes of the coupled system. For out-of-phase modes the conformity is assured only in case that the natural frequency of the attached system is less than a half of that the stiffened plate. It is also found that a resiliently mounted mass having its own natural frequency of about two or more times that of the stiffened plate can be reduced to a concentrated mass with assurance of a few percent error in the frequency.

• 한국군사과학기술학회지
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• 제11권2호
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• pp.116-124
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• 2008

Current paper investigates the dynamic behavior and stability of an infrared search and track subjected to external disturbance having gimbal structure with three rotating axes keeping constant angular velocity in the azimuth direction. Euler-Lagrange equation is applied to derive the coupled nonlinear dynamic equation of motion of infrared search and track and the characteristics of dynamic coupling are investigated. Two equilibrium points with small variations from the nonlinear coupling system are derived and the specific condition from which a coupled equation can be three independent equations is derived. Finally, to examine the stability of system, Lyapunov direct method was used and system stability and stability boundaries are investigated.

• 한국소음진동공학회논문집
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• 제14권12호
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• pp.1304-1313
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• 2004

In this paper a dynamic behavior of a cracked cantilever pipe conveying fluid with the moving mass is presented. It has the results focused on the frequency change. Based on the Euler-Bernouli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. When the velocity of the moving mass is constant, the influences of the crack severity, the position of the crack, the moving mass, and the coupling of these factors on the frequencies of the cantilever pipe are depicted.