• Structural Engineering and Mechanics
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• v.42 no.1
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• pp.39-53
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• 2012

This paper presents an alternative way to derive the exact element stiffness matrix for a beam on Winkler foundation and the fixed-end force vector due to a linearly distributed load. The element flexibility matrix is derived first and forms the core of the exact element stiffness matrix. The governing differential compatibility of the problem is derived using the virtual force principle and solved to obtain the exact moment interpolation functions. The matrix virtual force equation is employed to obtain the exact element flexibility matrix using the exact moment interpolation functions. The so-called "natural" element stiffness matrix is obtained by inverting the exact element flexibility matrix. Two numerical examples are used to verify the accuracy and the efficiency of the natural beam element on Winkler foundation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.6
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• pp.287-293
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• 2005

Equations have been derived for computing electromagnetic forces by using the Continuum Design Sensitivity Analysis based on the Continuum Mechanics and the Virtual Work Principle. The resultant expressions have similar terms relating to the Korteweg-Holmholz force density, Maxwell Stress Tensor and Magnetic Charge Method but numerical implementation of the proposed scheme leads to efficient calculation and improved accuracy. In addition, the method can be easily applied to computing the magnetic force distribution as well as the global force. Results show the aforementioned advantages in comparison with the conventional methods.

• Geomechanics and Engineering
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• v.24 no.4
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• pp.371-388
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• 2021

A novel flexibility-based beam-foundation model for inelastic analyses of beams resting on foundation is presented in this paper. To model the deformability of supporting foundation media, the Winkler-Pasternak foundation model is adopted. Following the derivation of basic equations of the problem (strong form), the flexibility-based finite beam-foundation element (weak form) is formulated within the framework of the matrix virtual force principle. Through equilibrated force shape functions, the internal force fields are related to the element force degrees of freedom. Tonti's diagrams are adopted to present both strong and weak forms of the problem. Three numerical simulations are employed to assess validity and to show effectiveness of the proposed flexibility-based beam-foundation model. The first two simulations focus on elastic beam-foundation systems while the last simulation emphasizes on an inelastic beam-foundation system. The influences of the adopted foundation model to represent the underlying foundation medium are also discussed.

• Structural Engineering and Mechanics
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• v.54 no.4
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• pp.793-807
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• 2015

Constructing the influence lines of forces of statically indeterminate structures is a traditional issue in structural engineering and mechanics. However, the existing kinematic method for establishing these force influence lines is an indirect or mixed approach by combining the force method with the theorem of reciprocal displacements, which is yet inconsistent with the kinematic method for statically determinate structure. This paper proposes the direct kinematic method in conjunction with the load-displacement differential relation for exactly constructing influence lines of reaction and internal forces of indeterminate structures. Firstly, through applying the principle of virtual displacement, the formula for influence lines of reaction and internal forces of indeterminate structure via direct kinematic method is derived based on the released structure. Then, a computational approach with a clear concept and unified procedure as well as wide applicability based on the load-displacement differential relation of beam is suggested to achieve conveniently the closed-form expression of force influence lines, and exactly draw them. Finally, three representative examples for constructing force influence lines of statically indeterminate beams and frame illustrate the superiority of the proposed method.

• Journal of Drive and Control
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• v.13 no.2
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• pp.51-58
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• 2016

The present study deals with the issue of clamping force control of an injection molding machine using 2-way cartridge valve based logic circuit. The operating principle for the cartridge valve is described with its construction and static opening behavior. Basic module circuits are designed first and analysed according to the basic functions. Then they are combined with a virtual design model for the clamping mechanism to simulate the control performance of the overall system. The backlash inherent in the mechanism is considered while evaluating the time-delay in the process of clamping force build-up. The effects of a couple of design parameters in backlash, i.e., interval and stiffness have been demonstrated in the time-domain.

• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• Journal of the Korean Magnetics Society
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• v.21 no.5
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• pp.174-179
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• 2011

Magnetic force calculation methods such as Maxwell stress, virtual work principle, equivalent magnetic charge, and equivalent magnetizing current are widely used until now. The force density is still controversial issue even though it is common sense that all of these methods have legitimate results. The surface force densities of each method are quite different with each other in the point of numerical result and final expression. In this paper, it is shown that a unified expression of body force density is derived using virtual air-gap scheme for an analytic model in which cylindrical magnetic material with a vertical current runs through its center.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.871-878
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• 2003

With the development of micro -technology, the demand for micro actual ing device is increasing. But, it is difficult to achieve high resolution and wide bandwidth with the conventional contact systems. So, the contact-free systems which are suspended or levitated by magnetic force or air bearing were proposed. These systems can be applied to high precision stages and alignment apparatuses. This paper describes a magnetically suspended system with four degrees of freedom which are composed of three rotations (roll, pitch, yaw), and one translation ( z). The operating principle and the structure of the system are similar to variable reluctance type electric machines. In this study, the force analysis is executed using magnetic circuit and virtual work principle, and the equations that describe the dynamics of the system are presented. The multivariable PID controller is adapted to the system and the experiment is executed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.725-734
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• 2009

Maxwell stress tensor is one of the methods which are generally used for electromagnetic force calculation. In this paper, it is presented that Maxwell stress tensor T and n${\cdot}$T have no physical meaning and therefore should not be used as sources of mechanical force for deformations or dynamics. The divergence of Maxwell stress tensor ${\nabla}{\cdot}T$ is the one which can acquire a physical identity and is electromagnetic body force density by an action at a distance like a gravity. This result can be derived from the principle of power balance, and also verified by some thought experiments. The virtual air-gap approach is proposed as a valid solution for the calculation of the body force.