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김봉섭 To^kyo^ Ko^gyo^ Daigaku 1994 해외박사
에폭시/폴리에테르설폰 혼합계에 있어서 에폭시수지의 분자량 증가에 따른 반응형 유발형 상분해에 의한 교차구조를 제어하였다. 경화반응은 레오미터, 시차주사열분석에 의하여, 상분리거동은 광산란법 및 전자현미경법에 의하 여 관찰하였으며, 폴리에테르설폰의 양 말단에 반응성기를 도입하여 에폭시 수지와 폴리에테르설폭간의 반응에 의하여 생성된 에폭시-폴리에테르설폰 블럭공중합체의 자발생성에 의한 교차구조에 관하여서도 관찰하였다. This study aims to derive the equation of motion for constrained mechanical systems. Starting from the principle of virtual work, this study states and establishes an extended version of Principle. Using this extended principle and elementary linear algebra, it develops, from first principles, the explicit equation of motion for constrained mechanical systems. The results are compared with the ones derived by Udwadia and Kalaba. The approach points to new ways of extending these results. This study also develops a further understandig of Gauss�s Principle. A number of methods for describing constrained motion require fairly complicated intermediate processe+choice of quasi-coordinates, computation of vector components of acceleration, elimination of coordinates, etc. In order to illustrate that the explicit equation is more simply employed than existing methods, this study numerically compares our approach with other analytical methods. the advantages and disadvantages that these methods have. analytically and An application When the explicit differential equation is numerically integrated by any numerical integration scheme, numerical solutions are found to gradually veer away satisfying the constraint equations. Most of the methods for reducing the errors depend on the method of Lagrange multipliers. These methods have difliculty in determining the multipliers accurately. Based on Baumgarte method, we present methods for accurately integrating the differential equation. This study provides four applications to the control of holonomically and/or nonholonomically constrained mechanical systems. These applications illustrate the ease with which the equation can be utilized for control of highly nonlinear mechanical systems without any linearization and for explicit determination of control forces required to precision tracking motion in the presence of known large disturbances. The constraints in these applications include nonlinear constraints and time-dependent constraints.
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