• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.8
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• pp.2681-2692
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• 1996

The finite-volume method for radiation in a three-dimensional non-orthogonal gas turbine combustion chamber with absorbing, emitting and anisotropically scattering medium is presented. The governing radiative transfer equation and its discretization equation using the step scheme are examined, while geometric relations which transform the Cartesian coordinate to a general body-fitted coordinate are provided to close the finite-volume formulation. The scattering phase function is modeled by a Legendre polynomial series. After a benchmark solution for three-dimensional rectangular combustor is obtained to validate the present formulation, a problem in three-dimensional non-orthogonal gas turbine combustor is investigated by changing such parameters as scattering albedo, scattering phase function and optical thickness. Heat flux in case of isotropic scattering is the same as that of non-scattering with specified heat generation in the medium. Forward scattering is found to produce higher radiative heat flux at hot and cold wall than backward scattering and optical thickness is also shown to play an important role in the problem. Results show that finite-volume method for radiation works well in orthogonal and non-orthogonal systems.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.3
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• pp.392-404
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• 1997

The flow induced by the oscillatory motion of a solid body is important in a number of practical problems. As the solid boundary oscillates harmonically, there is steady streaming motion invoked by the Reynolds stresses, which could cause extensive migration of the fluid during a period of fluid motion. We here analyzed the flow in a square cavity with an oscillating top wall for the parameters which make the time derivatives and the convective terms equally important in the entire cavity flow. The full Navier-Stokes equations are solved by the second-order time accurate Momentum Coupling Method which is devised by the authors. The particular numerical scheme does not need subiteration at each time step which is usually a required process to calculate the incompressible Navier-Stokes equations. The effect of two parameters, the Reynolds number and the frequency parameter, on the oscillatory flow has been investigated.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.474-481
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• 2001

This paper addresses a numerical method for predicting transient temperature distributions in the wall of a curved pipe subjected to internally thermal stratification flow. A simple and convenient numerical method of treating the unsteady conjugate heat transfer in the non-orthogonal coordinate systems is presented. The proposed method is implemented in a finite volume thermal-hydraulic computer code based on a cell-centered, non-staggered grid arrangement, the SIMPLEC algorithm, a higher-order bounded convection scheme, and the modified version of momentum interpolation method. Calculations are performed for the transient evolution of thermal stratification in two curved pipes, where the one has thick wall and the other has so thin wall that its presence can be negligible in the heat transfer analysis. The predicted results show that the thermally stratified flow and transient conjugate heat transfer in a curved pipe with a finite wall thickness can be satisfactorily analyzed by the present numerical method, and that the neglect of wall thickness in the prediction of pipe wall temperature distributions can provide unacceptably distorted results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.4 s.142
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• pp.330-340
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• 2005

Compressible two-phase flow is analyzed based on the arbitrary Lagrangian-Eulerian (ALE) formulation. For water, Tamman type stiffened equation of state is used. Numerical fluxes are calculated using the ALE two-phase Godunov scheme which assumes only that the speed of sound and pressure can be provided whenever density and internal energy are given. Effects of the approximations of a material interface speed are Investigated h method Is suggested to assign a rigid body boundary condition effectively To validate the developed code, several well-known problems are calculated and the results are compared with analytic or other numerical solutions including a single material Sod shock tube problem and a gas/water shock tube problem The code is applied to analyze the refraction and transmission of shock waves which are impacting on a water-gas interface from gas or water medium.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• The KSFM Journal of Fluid Machinery
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• v.6 no.1 s.18
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• pp.37-43
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• 2003

Natural convection of a magnetic fluid is different from that of Newtonian fluids because a magnetic body force exists in an addition to gravity and buoyancy forces. In this paper, the natural convection of a magnetic fluids (W-40) in a rectangular enclosure is investigated by numerical and experimental methods. One side wall is kept at a constant temperature ($25^{\circ}C$), and the opposite side wall is also kept at a constant temperature ($20^{\circ}C$), Under above conditions, the magnitude of the magnetic fields were varied and applied. GSMAC scheme is used for the numerical method, and the thermo-sensitive liquid crystal film (R20C5A) is utilized in order to visualize wall-temperature distributions as an experimental verification. This study has resulted in the following fact that the natural convection of a magnetic fluid is controlled by the direction and intensity of the magnetic fields.

• ETRI Journal
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• v.40 no.4
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• pp.511-521
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• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Journal of computational fluids engineering
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• v.20 no.3
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• pp.20-26
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• 2015

This paper introduces a computational method for analysis of the 6-DOF motions of a ship in waves using an overset grid technique which consists of inner and outer domains for representing body motions and numerical wave tank, respectively. High order interpolation scheme is employed to increase numerical accuracy over the interface where physical values, such as velocities and pressure, interact between the inner and outer domains. The numerical schemes and algorithm are addressed in the present paper. An application to motion of KCS container carrier in head waves is presented, and the comparison of responses on heave and pitch motions shows good agreement with those of model tests.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.671-680
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• 2001

Boundary condition is one of the major factors to influence the numerical stability and solution accuracy in numerical analysis. One of the most important physical boundary conditions in the flowfield analysis is the wall boundary condition imposed on the body surface. To solve a two-dimensional Euler equation, totally four numerical wall boundary conditions should be prescribed. Two of them are supplied by the flow tangency condition. The other two conditions, therefore, should be prepared additionally in a suitable way. In this paper, four different sets of wall boundary conditions are proposed and then applied to solve high-speed flowfields around a quarter circle geometry. A two-dimensional compressible Euler solver is prepared based on the finite volume method. This solver hires three different upwind schemes; Steger-Warmings flux vector splitting, Roes flux difference splitting, and Lious advection upstream splitting method. It is found that the way to specify the additional numerical wall boundary conditions strongly affects the overall stability and accuracy of the upwind schemes in high-speed flow calculation. The optimal wall boundary conditions should be also chosen very carefully depending on the numerical schemes used to solve the problem.