• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.17 no.5 s.122
• /
• pp.427-436
• /
• 2007

The catenary of a high-speed electrical train is modeled by the finite elements with the upper suspension wire, lower contact wire, and droppers, and the dynamic contact between the catenary and the pantograph is numerically analyzed by solving the whole equations of motion of the pantograph and the catenary system subjected to the contact condition. For the stability of the numerical solution, with the cubic spline interpolation of the catenary displacement, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the various numerical examples, it is shown that the dropper positions as well as the static deflection are crucial to determine the contact and separation of the pantograph of a high-speed train.

• International Journal of Aeronautical and Space Sciences
• /
• v.18 no.2
• /
• pp.245-254
• /
• 2017

In this paper, deployment dynamics of large-scale flexible solar arrays with deployable mast is investigated. The adopted solar array system is introduced firstly, then kinematic description and kinematic constraint equations are deduced, and finally, dynamics equation of the system is established by the Jourdain velocity variation principle and a new method to deal with topology changes of the deployable mast is introduced. The dynamic behavior of the system is studied in detail. Simulation results indicate that the proposed model is effective to describe the deployment dynamics of the solar arrays and that the introduced method is applicable for topology changes.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.9 no.4
• /
• pp.859-864
• /
• 2008

The dynamic interaction between the moving mass and the rotating Timoshenko shaft is investigated. The moving speed of the mass is presented by a constraint equation related to the rotating speed of the shaft. The dimensionless equations of motion for the rotating shaft with a moving mass by using the Timoshenko's beam theory. The dynamic responses of this system are studied. influences of dimensionless parameters such as the rotating speed ratio. the Rayleigh coefficient and the dimensionless axial force are discussed on the transient response and the maximum deflection of the moving system.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.276-281
• /
• 2002

A metallurgical model for bainite transformation kinetics in the coarse-grained heat affected zone(CGHAZ) on the basis of an Avrami-type equation was studied. Isothermal transformation tests were carried out to obtain the empirical equations for incubation time and Avrami kinetic constants for C-Mn-Mo-Ni steel. The effect of prior austenite grain size(PAGS) on the reaction rate of bainite was also investigated. Compared with experimental transformation behavior of bainite, the predicted behavior was in good agreement. It was also found that a smaller grain size retard the bainite reaction rate, contrary to the classical grain size effect and this is considered to be caused by constraint of grain size to bainite growth.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1996.10a
• /
• pp.288-295
• /
• 1996

This work presents an optimality criteria method applicable io the design of plane frames with I-shape sections. All kinds of constraints are treated properly to ensure the mathematical rigour of the method as ever. Among the various properties of a section, the cross-sectional area is chosen as the design variable associated with the member. Then other properties, moment of inertia and depth, are determined from the cross-sectional area using relationships established in advance from the sectional data for AISC standard W shapes. The optimality criteria established in this work is perfect in mathematical terms provided that the relationships between properties of a section are correct. A redesign algorithm is derived relying heavily on the Newton-Raphson method to solve the system of nonlinear constraint equations. A worked example is also Presented.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.670-673
• /
• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• Proceedings of the KIEE Conference
• /
• 1992.07a
• /
• pp.386-390
• /
• 1992

Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.

• Journal of Ocean Engineering and Technology
• /
• v.20 no.6 s.73
• /
• pp.93-100
• /
• 2006

This paper is concerned with the dynamic analysis of an underwater tracked vehicle, operating on extremely soft soil of the deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of the vehicle is defined by four Euler parameters. To solve the motion equations of the vehicle, the Newmark numerical integrator is used in the incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle's dynamics. The hydrodynamic effects on the performance of tracked vehicles are investigated through numerical simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.132.6-132
• /
• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.108.4-108
• /
• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...