• Elastomers and Composites
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• v.39 no.2
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• pp.121-130
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• 2004

A rubber bushing connects the components of the vehicle each other and reduce the vibration transmitted to the chassis frame. A rubber bushing has the nonlinear characteristics for both the amplitude and the frequency and represents the hysteretic responses under the periodic excitation. In this paper, one-axis durability test is performed to describe the mechanical behavior of typical vehicle elastomeric components. The results of the tests are used to develop m empirical bushing model with an artificial neural network. The back propagation algerian is used to obtain the weighting factor of the neural network. A numerical example is carried out to verify the developed bushing model and the vehicle simulation is performed to show the fidelity of proposed model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.4
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• pp.316-322
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• 2007

The EHA(Electro-hydrostatic Actuator) reveals completely different characteristics from the conventional valve-controlled Electro-hydraulic actuators. In this paper, its mathematical model including nonlinear elements was derived to be verified by experiments. Based on this, a simulation program was developed for the EHAs consisting of an electric motor driven hydraulic pump, pipe lines and a cylinder. The influence of important design parameters such as peak motor torque and rotational inertia moment of the hydraulic pump on control performance was investigated, where the test condition was intentionally selected so that the motor torque was saturated during the transient phase. As a result, design requirements for improving the control accuracy under full speed operation conditions of the EHAs were investigated.

• The Journal of the Convergence on Culture Technology
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• v.10 no.4
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• pp.473-481
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• 2024

In this paper, we introduce a newly developed winding model to simulate the motion of underwater cable consisting of winch drums. It is assumed that only tension affects the underwater cable motion. This assumption is suitable for simulating the underwater cable motion towed by a navel vessel in a straight ahead maneuver. The underwater cable is discretized using Nodal Position Finite Element Method. This numerical method is known to be suitable for predicting the underwater cable motion with large deformation because it can express geometric nonlinearity. In this paper, the validity of the numerical method was secured by comparing it with the depth information of towing cable measured through sea experiments.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.158-158
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• 2011

천수방정식과 같은 쌍곡선형 미분방정식의 불연속 해에 대한 Riemann 해법은, 1950년대 말 공기동역학 분야에서 S. K. Godunov의 선구적인 시도 이후, 다양한 영역에서 성공적으로 적용되고 있다. 당초 제안된 해법은 공간에 대해 1차 정도였으나, 2차의 정도를 얻을 수 있는 기법이 1970년대 말 B. van Leer에 의해 제안되었으며, MUSCL로 불린다. 서로 인접한 격자의 보존변수가 고려된 경사가 도입되어 두 격자에 의해 공유되는 변의 좌 우에서 선형으로 보존변수가 재구축되는 MUSCL은 제한자와 함께 이용될 때, 구조 격자 체계에서 비교적 단순하면서도 효과적인 적용성이 입증되었다. 그런데, 이 기법을 2차원의 비구조 격자 체계에 적용하는 경우, 인접한 모든 격자의 보존변수를 고려한 평면의 경사를 결정해야 하는 어려움이 따른다. 특히, 삼각형 비구조 격자에 적용할 경우 최적의 평면을 결정하기 위해 Green-Gauss 적분식이나 최소-자승법 등을 이용하게 된다. 이에 비해, 2010년 T. Buffard와 S. Clain이 제안한 다중경사 기법은 격자의 각 변에서 경사가 각각 결정되는 방법으로 계산량이 많은 Green-Gauss 적분식이나 최소자승법을 피할 수 있는 장점이 있는 것으로 알려져 있다. 정확해가 알려진 두 경우에 대해 몇 가지 제한자를 적용한 결과를 1차 정도의 해와 함께 비교하였으며, superbee 제한자에 의한 결과가 우수하였으나, 희유파와 충격파가 맞닿는 곳에서 수치 분산이 나타났다. minmod 제한자의 결과가 대체로 무난하였으며, 이를 2차원 댐 붕괴 문제에 적용하여 1차 정도의 해와 비교하였다. 마찰이 없고 초기 수심이 댐 상류에서 10 m, 하류에서 5 m로서 물이 차 있는 경우, 1차 정도의 해에서 나타나는 수치 소산이 2차 정도에서는 발생되지 않았다. 댐 하류에서 초기에 수심이 영으로 바닥이 드러난 경우에서 마찰의 영향을 검토하였다. 마찰이 있는 경우, 마찰 경사 항의 Manning 계수를 0.04로 두었으며, 마찰에 의한 영향이 잘 드러났다. 수심이 50 mm 보다 작은 경우에는 마찰을 적용하지 않았다. 이 연구는 환경부 '차세대 핵심환경기술개발 사업'의 지원에 의한 것이다.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.26 no.5
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• pp.385-392
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• 2013

The finite element method has become the most widely used method of structural analysis and recently, the method has often been applied to complex dynamic and nonlinear structural analyses problems. Even for these complex problems, where the responses are hard to predict, finite element analyses yield reliable results if appropriate element types and meshes are used. However, the dynamic and nonlinear behaviors of a structure often include large deformations in various portions of the structure and if the same mesh is used throughout the analysis, some elements may deform to shapes beyond the reliable limits; thus dynamically adapting finite element meshes are needed in order for the finite element analyses to be accurate. In addition, to satisfy the users requirement of quick real run time of finite element programs, the algorithms must be computationally efficient. This paper presents an adaptive finite element mesh generation scheme for dynamic analyses of structures that may adapt at each time step. Representative strain values are used for error estimates and combinations of the h-method(node movement) and the r-method(element division) are used for mesh refinements. A coefficient that depends on the shape of an element is used to limit overly distorted elements. A simple frame example shows the accuracy and computational efficiency of the scheme. The aim of the study is to outline the adaptive scheme and to demonstrate the potential use in general finite element analyses of dynamic and nonlinear structural problems commonly encountered.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.32 no.2
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• pp.75-86
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• 2019

The biggest obstacle in the nuclear power generation is the high level radioactive waste such as the spent nuclear fuel. High level radioactivities and generated heat make the safe treatment of the spent nuclear fuel very difficult. Nowadays, the only treatment method is a deep geological disposal technology. This paper treats the structural safe design problem of the spent nuclear fuel disposal canister which is one of the core technologies of the deep geological disposal technology. Especially, this paper executed the nonlinear structural analysis for the stresses and deformations occurring in the canister due to the impulsive force applied to the spent nuclear fuel disposal canister in the case of an accidental drop and ground impact event from the transportation vehicle in the repository. The main content of the analysis is about that the impulsive force is obtained using the commercial rigid body dynamic analysis computer code, RecurDyn, and the stress and deformation caused by this impulsive force are obtained using the commercial finite element static structural analysis computer code, NISA. The analysis results show that large stresses and deformations may occur in the canister, especially in the rid or the bottom of the canister, due to the impulsive force occurring during the collision impact period.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.1
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• pp.87-96
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• 2009

In conventional method, flight model is discribed to differential equation by linealization of nonlinear object motion equation. As state equation from differential equation of moving object, the controller is designed by transfer functions of each module under discrimination of stability criteria. But this conventional method is designed under limitation of nonlinearity from object's shape and speed. In other word, The greater part of guidance/navigation system was satisfied with the result of good performance for normal figure of flight object, not sudden changed flight condition, not high speed. But it is not able to give full play to its ability on flight object which has abnormal figure, sudden changeable motion, high speed. Therefore, in this paper was presented performance analysis of load control model for navigation/guidance system on flying object being uncertainty, non-linear like abnormal figure, sudden changeable motion, high speed and is presented method of trajectory control(controllability) ahead of controllability and stability to achieve flight mission. In other word, this paper shows the first step of Min-design method and flight control model.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Aerospace System Engineering
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• v.16 no.6
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• pp.24-34
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• 2022

This paper investigates the capture of a 12U-sized CubeSat space object using a spider-web structure-based space net. The structural dynamics analysis program ABAQUS is used to simulate the shock-absorbing capability of the space net with a diagonal length of 2.828 m. The space object is modelled as a rigid body, and the space net is modelled using non-linear elastic beam elements. The simulations reveal that the spider-web structure-based space net outperforms the squared space net of the same structural weight in capturing the space object. The numerical simulations are conducted to examine the successful or unsuccessful captures of the space object in various cooperative and non-cooperative motions.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.7
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• pp.709-715
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• 2015

Underwater gliders do not typically have separate propellers for forward motion. They generate propulsive forces based on the difference between their buoyancy and gravity. They can control the volume from the buoyancy engine to adjust the propulsive force. In addition, the attitude of the underwater glider is controlled by a rubberless motion controller. The motion controller can change the mass center and moment of inertia of the inner moving mass. Owing to the change in these parameters, the attitude of the underwater glider is changed. In this study, we derive nonlinear, six degree of freedom (DOF) mathematical models for the motion controller and buoyancy engine. Using these equations, we perform dynamic simulations of the proposed underwater glider, and verify the suitability of the design and dynamic performances of the proposed underwater glider. We then perform the motion control simulation for the pitch and roll angle, and analyze the dynamic performance according to the pitch and roll angles.