• Journal of Advanced Marine Engineering and Technology
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• v.40 no.8
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• pp.704-709
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• 2016

Wave energy generation systems can be divided into oscillating water chamber type, over topping device type and wave activating body type. The wave activating body type converts wave energy to kinetic energy, and the power generation amount increases as the motion of an activating body increases. In this paper, the wave energy convertor consists of a main body, which has an H-shape, and the activating body. These are connected by a bar-type bridge. By the incident wave, when the activating body moves with vertical motion this motion is consequently converted into rotational motion. The twisting moment and angular velocity at a shaft of convertor are calculated according to various conditions of the incident wave and the shape of the activating body. This can be used as a basic idea for determining the design of wave activating body type convertor.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Coupled systems mechanics
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• v.7 no.4
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• pp.373-393
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• 2018

This paper is concerned with the wave propagation behavior of rotating functionally graded temperature-dependent nanoscale beams subjected to thermal loading based on nonlocal strain gradient stress field. Uniform, linear and nonlinear temperature distributions across the thickness are investigated. Thermo-elastic properties of FG beam change gradually according to the Mori-Tanaka distribution model in the spatial coordinate. The nanobeam is modeled via a higher-order shear deformable refined beam theory which has a trigonometric shear stress function. The governing equations are derived by Hamilton's principle as a function of axial force due to centrifugal stiffening and displacement. By applying an analytical solution and solving an eigenvalue problem, the dispersion relations of rotating FG nanobeam are obtained. Numerical results illustrate that various parameters including temperature change, angular velocity, nonlocality parameter, wave number and gradient index have significant effect on the wave dispersion characteristics of the understudy nanobeam. The outcome of this study can provide beneficial information for the next generation researches and exact design of nano-machines including nanoscale molecular bearings and nanogears, etc.

• Coupled systems mechanics
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• v.3 no.3
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• pp.247-265
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• 2014

This article discusses the dynamic response of Bernoulli-Euler straight beam with angular elastic supports subjected to moving load with variable velocity. A new engineering approach for determination of the dynamic effect from the moving load on the stressed and strained state of the beam has been developed. A dynamic coefficient, a ratio of the dynamic to the static deflection of the beam, has been defined on the base of an infinite geometrical absolutely summable series. Generalization of the R. Willis' equation has been carried out: generalized boundary conditions have been introduced; the generalized elastic curve's equation on the base of infinite trigonometric series method has been obtained; the forces of inertia from normal and Coriolis accelerations and reduced beam mass have been taken into account. The influence of the boundary conditions and kinematic characteristics of the moving load on the dynamic coefficient has been investigated. As a result, the dynamic stressed and strained state has been obtained as a multiplication of the static one with the dynamic coefficient. The developed approach has been compared with a finite element one for a concrete engineering case and thus its authenticity has been proved.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.4
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• pp.330-337
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• 2015

When a tower crane is carried by a transporter in shipyard, the height and length of the tower crane should be adjusted to meet the safety guidelines. Since the guidelines came from the field experience, the safety limitation needs to be analyzed by a computer simulation. In this paper, modeling methods are addressed to implement the appropriate transportation simulation of a tower crane. For the relation between the tower crane and the transporter, normal contact force, friction force, and kinematic constraints are compared. Assignment of relevant linear acceleration and angular velocity is considered for the transporter to start or move on an inclined ground surface. By using the examined modeling methods, the dynamic motion of tower crane transportation is analyzed by a dynamic simulation program, and comparison between the simulation result and analytic solution is made to verify the feasibility of the modeling methods.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.8
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• pp.7-12
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• 2010

When a vehicle is running, wheel is generating vertical and lateral force on the rail, in addition to load of vehicle, through a complicated set of motions. The derailment coefficient refers to the ratio of lateral force to vertical force(wheel load), and if the value exceeds a certain level, a wheel climbs or jumps over the rail. That's why the value is used as a criterion for running safety. Derailment coefficient of rolling stocks alters according to shape of rail track. I measured three-dimensional angular velocity and acceleration to use 3D Motion Tracker. Test result, derailment coefficient of rolling stocks and shape of rail track examined closely that have fixed relation. Specially, was proved that roll motion has the close coupling relation.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.1
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• pp.42-47
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• 2002

Sirocco fans are widely used in HVAC and air conditioning systems, and the noise generated by these machines causes one of the most serious problems. In general, the sirocco fan noise is often dominated by tones at BPF(blade passage frequency) and broadband noise. However, only a few researches have been carried out on predicting the aeroacoustic noise because of the difficulty in obtaining detailed information about the flow field and casing effects on noise radiation. The objective of this study is to develop a prediction method for the unsteady flow field and the acoustic pressure field of a sirocco fan. We assume that the impeller rotates with a constant angular velocity and the flow field around the impeller is incompressible and inviscid. So, a discrete vortex method (DVM) is used to model the centrifugal fan and to calculate the flow field. The force of each element on the blade is calculated by the unsteady Bernoulli equation. Lowson\`s method is used to predict the acoustic source. Reasonable results are obtained not only fur the tonal noise but also far the amplitudes of the broadband noise. Acoustic pressure is proportional to (Ω)2.3, which is the similar value with the measured data.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Tribology and Lubricants
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• v.20 no.6
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• pp.322-329
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• 2004

Recently, a load/unload(L/UL) system is adopted to the hard disk drive(HDD) due to its advantages such as lower power consumption, larger data zone, simpler fabrication of disk due to no bumped parking zone, and rarer contact between slider and media. An analysis of the transient motion for the slider is very important to design an air bearing surface(ABS) of the slider to secure the stable performance of the system. During the L/UL process, however, there are several issues occurred such as contact or collision between slider and media. Sometimes this will cause the system failure. In this study, the dynamics of a pico slider during the loading process are investigated through numerical simulation using FEM analysis and experiment. Ramp profile and angular velocity of the swing arm actuator are very important parameters for the design of L/UL system to avoid collision between slider and disk.