• Current Research on Agriculture and Life Sciences
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• v.24
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• pp.49-53
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• 2006

The objective of this study was to present regression equations between reservoir water quality and land use types of the watersheds. In order to derive regression equations, a multiple linear regression analysis was used using observed data from 88 reservoirs in the Kyungpook Provcince. The measured values of BOD, COD, T-N, and T-P were correlated with the areas of land use types. 23 regression equations were obtained for all the water quality items and watershed sizes. The results showed that 2 regression equations have the multiple correlation coefficient(MCC) above 0.90, 10 regression equations have the MCC values from 0.70 to 0.90, 9 equations have the MCC from 0.40 to 0.70, and 2 equations have the MCC from 0.20 to 0.40. The results of this study can be used to estimate reservoir water quality simply and quickly in the planning phase.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.1 s.94
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• pp.46-52
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• 2005

This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.

• 한국전산유체공학회:학술대회논문집
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• 2005.10a
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• pp.111-116
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• 2005

Two coupling methods for the Navier-Stokes equations and a two-equation turbulence model equations are compared. They are the strongly coupled method and the loosely coupled method. The strongly coupled method solves the Navier-Stokes equations and the two-equation turbulence model equations simultaneously, while the loosely coupled method solves the Navier-Stokes equation with the turbulence viscosity fixed and subsequently solves the turbulence model equations with all the flow quantities fixed. In this paper, performances of two coupling methods are compared for two and three-dimensional problems.

• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of Korean Association for Spatial Structures
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• v.2 no.3 s.5
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• pp.115-122
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• 2002

It is often hard to obtain analytical solutions of boundary value problems of shells. Introducing some approximations into the governing equations may allow us to get analytical solutions of boundary value problems. Instead of an analytical procedure, we can apply a numerical method to the governing equations. Since the governing equations of shells of revolution under symmetric load are expressed by ordinary differential equations, a numerical solution of ordinary differential equations is applicable to solve the equations. In this paper, the governing equations of orthotropic spherical shells under symmetric load are derived from the classical theory based on differential geometry, and the analysis is numerically carried out by computer program of Runge-Kutta methods. The numerical results are compared to the solutions of a commercial analysis program, SAP2000, and show good agreement.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1287-1296
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• 2003

In this paper the dynamic analysis of the Macpherson strut motor-vehicle suspension system is presented. The equations of motion are formulated using a two-step transformation. Initially, the equations of motion are derived for a dynamically equivalent constrained system of particles that replaces the rigid bodies by applying Newton's second law The equations of motion are then transformed to a reduced set in terms of the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. For closed loops, suitable joints should be cut and few cut-joints constraint equations should be included for each closed chain. The chosen suspension includes open and closed loops with quarter-car model. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.61-68
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• 2001

A new approach for motion control of constrained mechanical systems is proposed in this paper. The approach uses a new equations of motion which is proposed by Udwadia and Kalaba and named Udwadia-Kalaba's equations of motion in this paper. This paper reveals that the Udwadia-Kalaba's equations of motion is more adequate to model constrained mechanical systems rather than the famous Lagrange's equations of motion at least for control purpose. The proposed approach coverts most of constraints including holonomic and nonholonomic constraints. Comparison of simulation results of two systems which are well-known in the literature show the superiority of the proposed approach. Furthermore, a special constrained mechanical system which includes nonlinear generalized velocities in its constraint equations, which has been considered to be difficult to control, can be controlled easily. It shows the possibility of the proposed approach to being a general framework for motion control of constrained mechanical systems with various kinds of constraints.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.621-626
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• 1985

Unsteady groundwater flow in a three-layer unconfined aquifer has been studied theoretically and experimentally. Two different methods have been used in solving the governing equations of the flow, the nonlinear partial differential equations; (1) The governing equations are linearized for each layer and approximate solutions are obtained. (2) The governing equations are transformed to nonlinear ordinary differential equations, which are solved numerically by Runge-Kutta procedure. Fine, middle sized and coarse sands are used in the experiments. It is found that the solutions from the method(2) ( the reduction of partial differential equations to ordinary differential equations) give better agreement with the experimental results than the solution from the method(1).

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.300-306
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• 2004

This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of .perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.