• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of the Korean Institute of Gas
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• v.17 no.1
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• pp.13-18
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• 2013

Experimental studies were carried out to investigate the interactions between the propagating flame fronts and different multiple obstacles within an explosion chamber. The explosion chamber is 600 mm in height, $700{\times}700mm^2$ in cross-section and has a H/L value of 0.86. Three different multiple obstacles with the blockage ratio of 0.43 were replaced within the chamber. The results showed that relatively higher local flame displacement speed was observed with the triangular obstacle while the lower was observed with the circular one. It was found that the local flame displacement speeds behind the obstacle were largely dependent on the obstacle types. It was also found that as the flame interacted with the flow field generated behind the obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.23 no.3
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• pp.248-257
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• 2011

In the present study, we proposed a new numerical wave tank model to analyze the vertical tension-leg circular floating bodies, using a 2-D Navier-Stokes solver. An IBM(Immersed Boundary Method) capable of handling interactions between waves and moving structures with complex geometry on a standard regular Cartesian grid system is coupled to the VOF(Volume of Fluid) method for tracking the free surface. Present numerical results for the motions of the floating body were compared with existing experimental data as well as numerical results based on FAVOR(Fractional Area Volume Obstacle Representation) algorithm. For detailed examinations of the present model, the additional hydraulic experiments for floating motions and free surface transformations were conducted. Further, the versatility of the proposed numerical model was verified via the numerical and physical experiments for the general rectangular floating bodies. Numerical results were compared with experiments and good agreement was archived.

• 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 Society of Disaster Information
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• v.4 no.2
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• pp.138-154
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• 2008

The conventional non-dig underground structure building method which made an appearance to reduce the social and environmental costs and maximize the efficiency of the social overhead capital facilities could not help being uneconomical because of many problems such as unnecessary excessive excavation, water leakage, obstacle interference, difficulty of curvilinear application and connection complexity between propelled and injected bodies due to indiscriminate application of small and large circular steel pipes without consideration of the site conditions. The T.S.T.M, in which a protruded square tube is applied as a propulsion and injection body in a design that considered site conditions such as ground condition, depth of soil and live load, was able to be economical as it solved the problems of water resistance, minimization of obstacle interference and curvilinearity, and we can see that it can be applied to all grounds by utilizing or complementing the target ground in terms of engineering. Also in configuring the transverse section, it is possible to not only secure excellent structural safety but also implement all of the above engineering characteristics not only in the square cross section but also in the arch cross section, so it was possible to build structures on any section or ground, and we could confirm the LCC reduction effect and the VE effect.

• Tunnel and Underground Space
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• v.15 no.4 s.57
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• pp.250-263
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• 2005

Progressive and localized brittle failures around an excavated opening by the overstressed condition can act as a serious obstacle to ensure the stability and the economical efficiency of construction work. In this paper, the characteristics of the brittle failure around an circular opening with stress level was studied by the biaxial compressive test using sealed specimen and by the numerical simulation with $PFC^{2D}$, one of the discrete element codes. The occurring pattern and shape of the brittle failure around a circular opening monitored during the biaxial loading were well coincided with those of the stress induced failures around the excavated openings observed in the brittle rock masses. The crack development stages with stress level were evaluated by the detailed analysis on the acoustic emission event properties. The microcrack development process around a circular opening was successfully visualized by the particle flow analysis. It indicated that the scaled test had a good feasibility in understanding the mechanism of the brittle failure around an opening with a high reliability.

• Journal of computational fluids engineering
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• v.19 no.4
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• pp.61-67
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• 2014

Since the most of the existing non-Newtonian models are not adequate to apply to the lattmce Boltzmann method, it is a challenging task from both the theoretical and the numerical points of view. In this research the hydro-kinetic model was modified and applied to the 3-D moving sphere in the circular channel flow and the characteristics of the shear thinning effect by the HK-model was evaluated and the condition of ${\Gamma}$ in the model was suggested for the stable simulation to generate non-trivial prediction in three dimension strong shear flows. On the wall boundaries of circular channel the curved wall surface treatment with constant velocity condition was applied and the bounceback condition was applied on the sphere wall to simulate the relative motion of the sphere. The condition is adequate at the less blockage than 0.7 but It may need to apply a multi-scale concept of grid refinement at the narrow flow region. to obtain the stable numerical results.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.234-236
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• 2006

Because of its long measurement range and ultra-precise resolution. the heterodyne laser interferometer systems are very common in various industry area such as semiconductor manufacturing. However the periodical nonlinearity property caused from frequency mixing is an obstacle to improve the high measurement accuracy in nanometer scale. In this paper to minimize the effect of nonlinearity, we propose an adaptive nonlinearity compensation algorithm. We first compute compensation parameters using least square (LS) with the capacitance displacement sensor as a reference input. We then update the parameters with recursive LS (RLS) while the values are optimized to modify the elliptical phase into circular one. Through comparison with some experimental results of laser system, we demonstrate the effectiveness of our proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.10
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• pp.1979-1989
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• 1992

An experimental study has been performed to investigate the horseshoe vortex system formed around cylindrical obstacles mounted vertically on the surface over which a boundary layer is formed. To measure the mean velocity of the flow field, a five-hole Pitot tube has been used. In addition, surface static pressure measurements and surface flow visualization were also performed. From the five-hole probe measurements, vorticity distribution was deduced numerically and the streamwise velocity distribution was also examined. To consider the effect of the leading-edge shape on the formation of the horseshoe vortex, a qualitative comparison was made between the three-dimensional flows around a circular cylinder and a wedge-type cylinder. The five-hole probe measurements showed a single primary vortex which exists immediately upstream of the obstacles, and endwall flow visualization showed the existence of a corner vortex. As the vortex passes around the obstacle, the vortex strength is reduced and the vortex core moves radially outward. Due to this horseshoe vortex, the fluid momentum is found to decrease along the streamwise direction. Since the horseshoe vortex formed around a wedge-type cylinder has weaker strength and is confined to a narrower region than that around a circular, the possibility that the secondary flow loss due to the horseshoe vortex can be reduced through a change of the leading- edge shape is proposed.