• 로봇학회논문지
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• 제16권2호
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• 대한기계학회논문집B
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• 제28권9호
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• pp.1093-1100
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• 2004

Numerical analysis of the heat transfer associated with droplet impact on a hot solid surface is performed by solving the equations governing conservation of mass, momentum and energy in the liquid and gas phases. The deformed droplet shape is tracked by a level set method which is modified to achieve volume conservation and to include the effect of contact angle at the wall. The numerical method is validated through the calculations for the cases reported in the literature. Based on the numerical results, the heat transfer rate is found to depend strongly on the droplet spread radius. Decreased advancing/receding contact angles enlarge the splat radius and in turn enhance the wall heat flux. The effect of impact velocity on the droplet spread is reduced as the droplet size decreases. Also, droplet atomization is observed to significantly enhance the heat transfer rate and the effect is pronounced for a smaller size of droplet. An existing model equation to predict the maximum spread radius is improved for application to a micro droplet.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.548-550
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• 2010

The droplet motion on a flat substrate with contact angle hysteresis is studied by solving the equations governing the conservation of mass and momentum. The liquid- gas interface is determined by an level-set method which is based on a sharp-interface representation for accurately imposing the matching or coupling conditions at the interface. The method is modified to treat the dynamic contact angle at the liquid-gas-solid interface. The computations are performed to investigate a droplet impact and merging pattern on a flat substrate to find a optimal condition in a micro-line patterning process. The effects of dynamic contact angles on droplet motion are quantified.

• Steel and Composite Structures
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• 제26권6호
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• pp.771-791
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• 2018

This paper deals with the low velocity impact response and dynamic stresses of composite sandwich truncated conical shells (STCS) with compressible or incompressible core. Impacts are assumed to occur normally over the top face-sheet and the interaction between the impactor and the structure is simulated using a new equivalent three-degree-of-freedom (TDOF) spring-mass-damper (SMD) model. The displacement fields of core and face sheets are considered by higher order and first order shear deformation theory (FSDT), respectively. Considering continuity boundary conditions between the layers, the motion equations are derived based on Hamilton's principal incorporating the curvature, in-plane stress of the core and the structural damping effects based on Kelvin-Voigt model. In order to obtain the contact force, the displacement histories and the dynamic stresses, the differential quadrature method (DQM) is used. The effects of different parameters such as number of the layers of the face sheets, boundary conditions, semi vertex angle of the cone, impact velocity of impactor, trapezoidal shape and in-plane stresses of the core are examined on the low velocity impact response of STCS. Comparison of the present results with those reported by other researchers, confirms the accuracy of the present method. Numerical results show that increasing the impact velocity of the impactor yields to increases in the maximum contact force and deflection, while the contact duration is decreased. In addition, the normal stresses induced in top layer are higher than bottom layer since the top layer is subjected to impact load. Furthermore, with considering structural damping, the contact force and dynamic deflection decrees.

• 한국공간구조학회:학술대회논문집
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• 한국공간구조학회 2008년도 춘계 학술발표회 논문집
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• pp.74-79
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• 2008

본 논문에서는 유한요소법을 이용하여 저속충격을 받는 복합적층판(Graphite/Epoxy)의 충격과도응답을 조사한다. 판의 대처짐을 고려한 von-Karman 이론에 Mindlin의 전단변형 효과와 회전관성 효과를 포함한 비선형 이론을 도입한다. 과도응답의 수렴은 정적만입실험을 통해 얻은 접촉법칙을 사용하며, 다양한 복합적층판의 두께 변화에 따른 접촉력, 변위응답, 변형률 등을 조사하여 비교 분석한다.

• 한국운동역학회지
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• 제28권3호
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• pp.159-164
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• 2018

Objective: The aims of this study were to determine the impact peak force and kinematic variables in running speed and investigate the relationship between them. Method: Thirty-nine male heel strike runners ($mean\;age=21.7{\pm}1.6y$, $mean\;mass=72.5{\pm}8.7kg$, $mean\;height=176.6{\pm}6.1cm$) were recruited in this investigation. The impact peak forces during treadmill running were assessed, and the kinematic variables were computed using three-dimensional data collected using eight infrared cameras (Oqus 300, Qualisys, Sweden). One-way analysis of variance ANOVAwas used to investigate the influence of the running speed on the parameters, and Pearson's partial correlation was used to investigate the relationship between the impact peak force and kinematic variables. Results: The running speed affected the impact peak force, stride length, stride frequency, and kinematic variables during the stride phase and the foot angle at heel contact; however, it did not affect the ankle and knee joint angles in the sagittal plane at heel contact. No significant correlation was noted between the impact peak force and kinematic variables in constantrunning speed. Conclusion: Increasing ankle and knee joint angles at heel contact may not be related to the mechanism behind reducing the impact peak force during treadmill running at constant speed.

• Tribology and Lubricants
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• 제37권3호
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• pp.112-116
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• 2021

Appropriate friction model usage is important for impact analysis because the relative motions between parts that are in contact for very short durations can vary greatly depending on the friction model. Vehicle seat components that have significant effects on impact analysis are also considered. This paper presents an experimental investigation of various material contact pairs to obtain the friction parameters of the Benson exponential friction model for impact simulation. The Coulomb friction model has limitations for impact analysis because of singularity at zero velocity. Metal/nonmetal materials are prepared, and friction tests are conducted for various sliding speeds, loads, and lubrication conditions. The obtained data are used in the friction model to implement finite element analysis. The parameters of the friction model are obtained by the curve-fitting method. The experimental results show that the friction coefficient with metal/nonmetal contact pairs is stable regardless of the working conditions. The friction model used in this study can also be applied for finite element analysis of the crash conditions, where the friction changes abruptly at the contact interface; the obtained friction parameters are also expected to be more accurate with more precise tests under different working conditions. These results can help improve the accuracy of the finite element analysis.

• 한국공간구조학회논문집
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• 제10권4호
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• pp.75-83
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• 2010

복합적층판은 다른 금속재료에 비해 높은 비강도, 비강성 등의 우수한 역학적 특성을 지니므로, 최근 다양한 분야에서 사용하고 있다. 그러나 이러한 복합적층판은 충격에 약하다는 단점이 있다. 그리하여 복합적층판의 충격거동에 대한 많은 연구가 이루어지고 있다. 충격거동을 조사하기 위해서는 우선 충격체와 복합적층판사이의 접촉력을 계산하여야 한다. 접촉력을 알기 위해서는 운동방정식, 복합적층판의 운동방정식 그리고 압입량에 관한 관계식을 동시에 풀어야 한다. 본 연구에서는 고전적인 헤르츠식, 썬식, 썬&양식 그리고 썬&탄식을 포함한 유한요소프로그램을 이용하여 복합적층판의 저속충격거동을 조사한다.

• Advances in nano research
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• 제13권4호
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• pp.369-378
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• 2022

Dynamic study of concrete plates under impact load is presented in this article. The main objective of this work is presenting a mathematical model for the concrete plates under the impact load. The concrete plate is reinforced by carbon nanoparticles which the effective material proprieties are obtained by mixture's rule. Impacts are assumed to occur normally over the top layer of the plate and the interaction between the impactor and the structure is simulated using a new equivalent three-degree-of-freedom (TDOF) spring-mass-damper (SMD) model. The structure is assumed viscoelastic based on Kelvin-Voigt model. Based on the classical plate theory (CPT), energy method and Hamilton's principle, the motion equations are derived. Applying DQM, the dynamic deflection and contact force of the structure are calculated numerically so that the effects of mass, velocity and height of the impactor, volume percent of nanoparticles, structural damping and geometrical parameters of structure are shown on the dynamic deflection and contact force. Results show that considering structural damping leads to lower dynamic deflection and contact force. In addition, increasing the volume percent of nanoparticles yields to decreases in the deflection.

• Structural Engineering and Mechanics
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• 제50권5호
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• pp.589-603
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• 2014

Expressions for determining the value of the impact force as reported in the literature and incorporated into code provisions are essentially quasi-static forces for emulating deflection. Quasi-static forces are not to be confused with contact force which is generated in the vicinity of the point of contact between the impactor and target, and contact force is responsible for damage featuring perforation and denting. The distinction between the two types of forces in the context of impact actions is not widely understood and few guidelines have been developed for their estimation. The value of the contact force can be many times higher than that of the quasi-static force and lasts for a matter of a few milli-seconds whereas the deflection of the target can evolve over a much longer time span. The stiffer the impactor the shorter the period of time to deliver the impulsive action onto the target and consequently the higher the peak value of the contact force. This phenomenon is not taken into account by any contemporary codified method of modelling impact actions which are mostly based on the considerations of momentum and energy principles. Computer software such as LS-DYNA has the capability of predicting contact force but the dynamic stiffness parameters of the impactor material which is required for input into the program has not been documented for debris materials. The alternative, direct, approach for an accurate evaluation of the damage potential of an impact scenario is by physical experimentation. However, it can be difficult to extrapolate observations from laboratory testings to behaviour in real scenarios when the underlying principles have not been established. Contact force is also difficult to measure. Thus, the amount of useful information that can be retrieved from isolated impact experiments to guide design and to quantify risk is very limited. In this paper, practical methods for estimating the amount of contact force that can be generated by the impact of a fallen debris object are introduced along with the governing principles. An experimental-calibration procedure forming part of the assessment procedure has also been verified.