• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.683-690
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• 1985

본 논문에는 Euler매개변수를 회전좌표계로 사용하여 구속된 3차원 기계시스템의 역동학력 해 을 수행한 연구결과가 수록되었다. 해석을 위해 문제에 등장하는 비선형 Holonomic구속조건식 들과 운동방정식들을 Cartesian일반좌표계을 사용하여 표시하였으며, 일반좌표계를 구성하는 각 강체의 좌표계로는 변위를 나타내기 위한 3개의 좌표와 회전을 나타내기 위한 4개의 Euler매 개변수가 사용되었다. 구속조건식들과 미분방정식 형태의 운동방정식들을 결합하여 시스템 전 체의 운동방정식을 유도하기 위해 Lagrange승수 기법을 사용하였다. 각 강체의 주어진 시간에 서의 위치, 속도, 가속도는 기구학적 해석(kinematic analysis)을 통해 얻어지고, 이 자료들을 전 체운동방정식에 대입하여 Lagrnage승수의 값을 계산하여 6개의 자유도를 가진 로봇 기구를 원 하는대로 운전하는에 필요한 각 관절의 토오크를 계산하였으며, 계산결과가 정확하다는 사실이 입증되었다. 연구결과 Euler매개변수를 회전좌표로 사용할 경우 특이 경우(singular case)가 발 생하지 않으며, 이 방법은 역동력학 해석용 다목적 전산프로그램 개발에 광범위하게 응용될 수 있음이 밝혀졌다.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.244-248
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• 2009

본 논문에서는 만타형상의 무인잠수정의 운동성능과 제어기설계에 대한 성능을 확인하기 위한 수학모델을 정립하여 시뮬레이션 프로그램을 개발하였다. 본 논문에 사용된 수학모델은 6자유도 운동방정식을 이용하여 Matlab / Simulink를 이용하여 시뮬레이션 프로그램을 개발하였다. 개발된 시뮬레이션 프로그램을 이용하여 만타형상무인잠수정(Manta-type unmanned underwater test vehicle)의 동역학적 운동성능을 해석하였으며, 무인잠수정의 제어성능을 해석하기 위하여 PID(비례-미분-적분)제어기와 슬라이딩모드(Sliding mode)제어기를 설계하여 만타형상무인잠수정의 제어 성능을 해석하였다. 설계된 제어기는 무인잠수정의 수심제어와 방향각제어에 사용되었다. 설계된 제어기의 성능을 확인하기 위하여 미국 해군대학원(Naval Postgraduate School)의 AUV II와 비교하였다. 설계된 수심제어와 방향각 제어기를 이용하여 만타형무인잠수정의 설계 목표에 부합하는 항해제어시뮬레이션을 실시하였다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.3
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• pp.463-472
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• 1994

A method of stochastic response analysis of base-isolated fluid-filled pool structures subject to random ground excitations is studied. Fluid-structure interaction effects between the flexible walls and contained fluid are taken into account in the form of added mass matrix derived by FEM modeling of the contained fluid motion. The stationary ground excitation is represented by Modified Clough-Penzien spectral model and the nonstationary one is obtained by imposing an envelope function on the stationary one. The stationary and nonstationary response statistics of the two different isolation systems are obtained by solving the governing Lyapunov covariance matrix differential equations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.6
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• pp.488-494
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• 2014

Rocket Plumes can cause serious damage to launch vehicles and adjacent structures. This paper describes the impact of an adjacent structure by a rocket plume. Each parameter related with dynamic behavior of a missile is modeled with probabilistic distributions of variables. Flyout analyses of initial behavior of a vertically launched missile are performed using Monte-Carlo simulation and flow-motion analyses were conducted by using CFD. In this way, when a missile is fired by a ship, the impact of an adjacent structure by a rocket plume was analyzed.

• Journal of Ocean Engineering and Technology
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• v.11 no.3
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• pp.116-123
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• 1997

세계적으로 수요가 증대하고 있는 고속선의 설계시 승선감 또는 내항성은 필수적으로 고려되어야 하는 중요요소이다. 고속선은 필연적으로 과도한 운동을 동반하며 그로 인해 승객들은 극심한 멀미와 구토 등 불쾌한 승선감을 경험하게 된다. 근래에 항공 및 육상 교통수단들의 고급화에 따라 해양 운항선사들도 선박품질의 고급화와 괘적한 승선감 확보에 비상한 관심을 보이며 승객 유치 및 승선률 제고를 도모하고 있다. 본 논문은 고속쌍동선에 대한 내항성능을 추정하고 그 해석결과를 실험과 비교하였다. 상하동요 및 종동요 간의 선형 연성 운동방정식을 사용하였고, 규칙파에 대한 상하동요의 응답특성 곡선을 구하였다. 또한 불규칙파에 대한 운동응답을 추정하기 위하여 ITTC파도 스펙트럼을 적용하였으며, 본 고속쌍동선의 운동성능에 미치는 선수 및 선수각의 영향을 고찰하였다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.2
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• pp.43-54
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• 1992

For shallow arches with large dynamic loading, linear analysis is no longer considered as practical and accurate. In this study, a method is presented for the dynamic analysis of shallow arches in which geometric nonlinearity must be considered. A program is developed for the analysis of the nonlinear dynamic behavior and for evaluation of critical buckling loads of shallow arches. Geometric nonlinearity is modeled using Lagrangian description of the motion. The finite element analysis procedure is used to solve the dynamic equation of motion and Newmark method is adopted in the approximation of time integration. A shallow arch subject to radial step loads is analyzed. The results are compared with those from other researches to verify the developed program. The behavior of arches is analyzed using the non-dimensional time, load, and shape parameters. It is shown that geometric nonlinearity should be considered in the analysis of shallow arches and probability of buckling failure is getting higher as arches are getting shallower. It is confirmed that arches with the same shape parameter have the same deflection ratio at the same time parameter when arches are loaded with the same parametric load. In addition, it is proved that buckling of arches with the same shape parameter occurs at the same load parameter. Circular arches, which are under a single or uniform normal load, are analyzed for comparison. A parabolic arch with radial step load is also analyzed. It is verified that the developed program is applicable for those problems.

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.4
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• pp.101-112
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• 1985

It is important to extract the mechanical informations from the image sequences of the moving object. We have studied the computer algorithms for analysis of the moving heart using X-ray image sequence. A new mathematical method was developed to estimate the local epicardial deformation, wall thickness, and the regional circumferential and longitudinal wall stress using biplane coronary cineangiograms. In this method, the motion images of the coronary artery bifurca-tion points were used as natural landmarks for the kinematic analysis of the ventricular deformation. In four dogs and a normal patient's coronary cineangiograms, the estimation results show the validity of the present analysis, compared with the experimental results based upon the implanted markers. Thus, the present method provides a new method of evaluating the regional wall deformation and wall stress together with the blood vessel conditions using the coronary cineangiography procedure.

• Proceedings of the Korean Institute of Communication Sciences Conference
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• 1996.06a
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• pp.511-515
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• 1996

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.1
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• pp.57-62
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• 2014

Most analytical models of the human body have focused on conscious responses. A patellar tendon reflex, a representative example of spinal reflexes, occurs without a neural command. Muscle forces and activation of the quadriceps femoris muscles in healthy adults during patellar tendon reflex are identified in this study. The model is assumed to move in the sagittal plane, and the thigh and the trunk are assumed to be fixed in a sitting position so that the shank can move similar to a pendulum. The knee joint is modeled as a revolute joint, and the ankle joint is modeled as a fixed joint so that the shank and the foot can be regarded as one rigid body. Muscle forces are calculated following the inverse dynamic approach. Kinematic data obtained from an experiment (Mamizuka, 2007) are used as input data. Muscle activations are identified using a Hill-type muscle model. The obtained simulation results are compared with experimental results for validating the model and the underlying assumptions.

• Journal of the Earthquake Engineering Society of Korea
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• v.1 no.2
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• pp.59-68
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• 1997

Seismic responses of the Hualien large scale seismic test model on a layered soil site are estimated for three recorded earthquakes with different level of peak acceleration using two different approaches of soil-structure interaction analysis. The analysis results are then compared and evaluated with the recorded. The method adopted for the analysis is based on substructuring method using a lumped parameter model in both the frequency and time domain. The study results indicate that the proposed method can reasonably estimate the earthquake responses of a soil-structure interaction system of r engineering purposes if the techniques of defining input motion and modeling of the backfilled soil are prudently selected.