• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• International Journal of Automotive Technology
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• v.8 no.2
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• pp.233-241
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• 2007

A lumped parameter model is proposed for the analysis of dynamic behaviour of a Passive Hydraulic Engine Mount (PHEM), incorporating inertia track and throttle, which is characterized by effective and efficient vibration isolation behaviour in the range of both low and high frequencies. Most of the model parameters, including volume compliance of the throttle chamber, effective piston area, fluid inertia and resistance of inertia track and throttle are identified by an experimental approach. Numerical predictions are obtained through a finite element method for responses of dynamic stiffness of the rubber spring. The experiments are made for the purpose of PHEM validation. Comparison of numerical results with experimental observations has shown that the present PHEM achieves good performance for vibration isolation.

• Wind and Structures
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• v.11 no.2
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• pp.97-120
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• 2008

Wind and wave loadings have a predominant role in the design of offshore structures in general, and articulated tower in particular for a successful service and survival during normal and extreme environmental conditions. Such towers are very sensitive to the dynamic effects of wind and wind generated waves. The exposed superstructure is subjected to aerodynamic loads while the submerged substructure is subjected to hydrodynamic loads. Articulated towers are designed such that their fundamental frequency is well below the wave frequency to avoid dynamic amplification. Dynamic interaction of these towers with environmental loads (wind, waves and currents) acts to impart a lesser overall shear and overturning moment due to compliance to such forces. This compliancy introduces geometric nonlinearity due to large displacements, which becomes an important consideration in the analysis of articulated towers. Prediction of the nonlinear behaviour of these towers in the harsh ocean environment is difficult. However, simplified realistic mathematical models are employed to gain an important insight into the problem and to explore the dynamic behaviour. In this paper, various modeling approaches and solution methods for articulated towers adopted by past researchers are reviewed. Besides, reliability of articulation system, the paper also discussed the design, installation and performance of articulated towers around the world oceans.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.130-136
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• 2012

Dynamic as well as static and geometric design parameters such as inertia, tooth profile, backlash and clearance can be directly considered via multi-body dynamic analysis along with contact analysis. However, it is time consuming to use finite elements for the consideration of the tooth flexibility in the multi-body dynamic analysis of gears. A computationally efficient procedure, so called, Gear Stiffness Module, is suggested to resolve this calculation time issue. The characteristics of gear tooth compliance are discussed and rotational stiffness element concept for the Gear Stiffness Module is presented. Transmission error analyses for a spur gear system are carried out to validate the reliability and efficiency of the module. Compared with the finite element model, the Gear Stiffness Module yields considerably similar results and takes only 3% of calculation time.

• Geophysics and Geophysical Exploration
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• v.20 no.4
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• pp.207-215
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• 2017

To develope shale play which is one of unconventional energy resources, horizontal drilling and hydraulic fracturing are necessary and those are applied to the place where the differential horizontal stress ratio (DHSR) is low. The differential horizontal stress ratio is generally calculated by the minimum and maximum horizontal stress, but it is also calculated from dynamic elastic constants and anisotropic parameters. In this study we analyzed anisotropic properties through the core samples from Danyang limestone and calculated DHSR. The three types of core samples shaped in three directions (vertical, parallel and 45 degree to bedding) were used for laboratory test. We measured P-, S-wave velocities, and density and then calculated dynamic elastic constants, compliance and DHSR. According to the results of the core sample analysis the calculated DHSR is 0.185. Thomsen parameters of the Danyang limestone used in this study are characterized by the P- and S-wave velocities varying along the bedding symmetry axis. It is observed that the DHSR value is more affected by the change in compliance value than the Poisson's ratio. It is necessary to measure SH-wave velocity for more correct petrophysical properties.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.751-752
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• 2007

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1992.10a
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• pp.162-167
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• 1992

The effects of railway vibration on nearby structures or equipment become severe with increasing the train speed and they may be also sufficiently intense to annoy the recipients. Often, the cost of the postcautionary measures may be more expensive than that of the precautionary ones to eliminate potential problems. This paper presents the Boundary Element approach for the evaluation of the dynamic response (in the form of the compliance matrix) of sleeper which can be used to predict the change of the vibration level.

• Proceedings of the Korean Fiber Society Conference
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• 2001.10a
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• pp.175-178
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• 2001

일반적으로 점탄성 거동을 나타내는 고분자 액체의 전단유동특성(shear flow properties)을 평가하기 위하여 정상전단(steady shear), 동적전단(dynamic shear), 응력완화(stress relaxation) 그리고 크리프(creep) 및 크리프 회복(creep recovery) 실험 등이 활용되고 있다[1], 이때 영전단점도(zero shear viscosity)와 정상상태 회복 컴플라이언스(steady-state recoverable compliance)는 정상상태(steady state)에서 얻어지는 물리량으로, 각 실험방법으로부터 직접적 또는 간접적으로 측정이 가능하다. (중략)

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.25-31
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• 2011

The purpose of the study is to enhance the vehicle handling stability of the PACE formula vehicle. Required data for the dynamic analysis of the vehicle are as follows: Mass, moment of inertia, and tire's dynamic properties. Mass and moment of inertia data were calculated using Siemens NX 5.0 which results were verified with VIMF measurements of GMDAT. Dynamic data for the tire were supplied by Kumho Tire. Aerodynamic forces play an important role in the formula vehicle which forces were calculated by using Fluent. Full vehicle dynamic analysis using Carsim software has been carried out to find out the improvement of the vehicle stability by changing the shapes of the rear wing.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1477-1485
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• 1996

Since the spindle bearing systme is the main source of the total cutting point compliance of machine tool structures, in this work, the static and dynamic characteristics of the spndle bearing systme driven by the gear located on the bearing span were investigated using analytical and finite elemtn methods to improve the performance of the spindle bearing system. Based on the theretical results, a specially designed prototype spindle bvearing systme was manufactured. Using the manufactured spindle bearing system, the static and dynamic characteristics were measured. From the comparison of the experimental results with the theoretical results, it was found that the finite elemetn method predicted well the static and dynamic characteristics of the spindle bearing system.