• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.5
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• pp.349-357
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• 2009

Effect of computational domain size in simulating of periodic obstacle flow has been investigated for the flow past tube banks. Reynolds number, defined by freestream velocity ($U_{\infty}$) and cylinder diameter (d), was fixed as 200, and center-to-center distance (P) as 1.5d. In-line square array and staggered square array were considered. Drag coefficient, lift coefficient and Strouhal number were calculated depending on domain size. Circular cylinders were implemented on a Cartesian grid system by using an immersed boundary method. Boundary condition is periodic in both streamwise and lateral directions. Previous studies in literature often use a square domain with a side length of P, which contains only one cylinder. However, this study reveals that the domain size is improper. Especially, RMS values of flow-induced forces are most sensitive to the domain size.

• Journal of the Korean Mathematical Society
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• v.47 no.5
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• pp.1031-1054
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• 2010

Let $\mathbb{Z}^n$ be the Cartesian product of the set of integers $\mathbb{Z}$ and let ($\mathbb{Z}$, T) and ($\mathbb{Z}^n$, $T^n$) be the Khalimsky line topology on $\mathbb{Z}$ and the Khalimsky product topology on $\mathbb{Z}^n$, respectively. Then for a set $X\;{\subset}\;\mathbb{Z}^n$, consider the subspace (X, $T^n_X$) induced from ($\mathbb{Z}^n$, $T^n$). Considering a k-adjacency on (X, $T^n_X$), we call it a (computer topological) space with k-adjacency and use the notation (X, k, $T^n_X$) := $X_{n,k}$. In this paper we introduce the notions of KD-($k_0$, $k_1$)-homotopy equivalence and KD-k-deformation retract and investigate a classification of (computer topological) spaces $X_{n,k}$ in terms of a KD-($k_0$, $k_1$)-homotopy equivalence.

• Journal of computational fluids engineering
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• v.18 no.4
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• pp.17-24
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• 2013

In this study, we consider the characteristics of channel flow in the presence of an infinite streamwise array of equispaced identical rotating circular cylinders. This flow configuration can be regarded as a model representing a micro channel or an internal heat exchanger with cylindrical vortex generators. A numerical parametric study has been carried out by varying Reynolds number based on the bulk mean velocity and the cylinder diameter, and the gap between the cylinders and the channel wall for some selected angular speeds. An immersed boundary method was employed to facilitate implementing the cylinders on a Cartesian grid system. No-slip condition is employed at all solid boundaries including the cylinders, and the flow is assumed to be periodic in the streamwise direction. The presence of the rotating circular cylinders arranged periodically in the streamwise direction causes a significant topological change of the flow, leading to increase of mean friction on the channel walls. More quantitative results as well as qualitative physical explanations are presented to justify the effectiveness of rotating cylinders to modify flow topology, which might be used to enhance heat transfer on the channel walls.

• Journal of computational fluids engineering
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• v.18 no.1
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• pp.49-57
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• 2013

Analysis of fluid-structure interaction for two nearby underwater vehicles immersed in the sea is quite challenging because simulation of flow around them is very difficult due to the complexity of underwater vehicle shapes. The conventional approach using body-fitted or unstructured grids demands much time in dynamic grid generation, and yields slow convergence of solution. Since an analysis of fluid-structure interaction must be based on accurate simulation results, a more efficient way of simulating flow around underwater vehicles, without sacrificing accuracy, is desirable. An immersed boundary method facilitates implementation of complicated underwater-vehicle shapes on a Cartesian grid system. An LES modeling is also incorporated to resolve turbulent eddies. In this paper, we will demonstrate the effectiveness of the immersed boundary method we adopted, by presenting the simulation results on the flow around a modeled high-speed underwater vehicle interacting with a modeled low-speed one.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1509-1517
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• 1993

The purpose of this study is to develop a program for the automatic derivation of the symbolic equations necessary for the kinematic and dynamic analyses of the spatial mechanism. For this purpose, a symbolic manipulation package called MCSYMA is used. Every symbolic equation is formulated using relative joint coordinate to obtain the numerically efficient system equations. These equations are produced in FORTRAN statements and linked to a FORTRAN program for numerical analysis. Several examples are taken for comparison with the commercial package called DADS which is using Cartesian coordinate approach. Also, this symbolic formulation approach is compared with a conventional numerical approach for an example. The results show that this symbolic approach with relative joint coordinate system is most efficient in computational time among three and is recommended for the derivation of macro elements frequently used.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• 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 KSME Conference
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• 2003.11a
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• pp.759-764
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• 2003

Numerical simulations are conducted to investigate the mechanism of hovering flight by single flapping wing, and to examine the effect of the phase difference between the fore- and hindwings in hovering flight by two flapping wings. The numerical method used is based on an immersed boundary method in Cartesian coordinates. The Reynolds number considered is Re=150 based on the maximum translational velocity and chord length of the wing. For single flapping wing, the stroke plane angles are $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $75^{\circ}$ and $90^{\circ}$ and the downstroke angles of attack are varied for each stroke angle. Results show that for each stroke plane angle, there is an optimal angle of attack to maximize the vertical force. Below the stroke angle of $60^{\circ}$, wake capturing reduces the negative vertical force during the upstroke. For two flapping wings, The phase lags of the hindwing are $0^{\circ}$, $90^{\circ}$, $180^{\circ}$ and $270^{\circ}$. The amplitudes of the stroke are 2.5 and 4.0 times the chord length at each phase lag. The results show that maximum vertical force is generated when the phase lag is zero, and the amplitude of the vertical force is minimum at the phase lag of $180^{\circ}$.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• Journal of Communications and Networks
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• v.6 no.3
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• pp.258-268
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• 2004

We demonstrate rotationally invariant space-time (ST) trellis codes with a 4-D rectangular signal constellation for data transmission over fading channels using two transmit antennas. The rotational invariance is a good property to have that may alleviate the task of the carrier phase tracking circuit in the receiver. The transmitted data stream is segmented into eight bit blocks and quadrature amplitude modulated using a 256 point 4-D signal constellation whose 2-D constituent constellation is a 16 point square constellation doubly partitioned. The 4-D signal constellation is simply the Cartesian product of the 2-D signal constellation with it-self and has 32 subsets. The partition is performed on one side into four subsets A, B, C, and D with increased minimum-squared Euclidian distance, and on the other side into four rings, where each ring includes four points of equal energy. We propose both linear and nonlinear ST trellis codes and perform simulations using an appropriate multiple-input multiple-output (MIMO) channel model. The 4-D ST codes constructed here demonstrate about the same frame error rate (FER) performance as their 2-D counterparts, having however the added value of rotational invariance.