• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.928-931
• /
• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• 대한전자공학회논문지SP
• /
• 제41권6호
• /
• pp.25-32
• /
• 2004

본 논문에서는 스테레오 영상으로부터 자연스러우면서도 정확한 변이 정보를 추출하기 위한 변이 추정 알고리듬을 제안한다. 제안된 알고리듬은 영역 분할 기법을 이용한 계층적 변이 추정부와 편미분 방정식(PDE: Partial Differential Equation)을 이용한 에너지 기반 경계 보존 변이 평활화부로 구성되어 있다. 제안된 계층적 변이 추정 기법은 빠르면서도 신뢰도 있는 변이를 제공하며, 이러한 변이장은 정확도와 평활화도를 함께 고려한 에너지 모델의 최소화 기법에 의해 자연스럽고 정밀한 최종 변이장으로 추출된다. 에너지 모델의 최소화 과정은 대응되는 Euler-Lagrange 방정식으로 변형되어 유한차분법(FDM: Finite difference Method)을 이용한 근사화를 통해 구현된다. 실험을 통해 제안된 변이 추정 기법은 다양한 환경의 영상에 대해서도 자연스러우면서도 정확하고, 경계가 잘 보존된 변이를 추정해 낼 수 있음을 검증하였다.

• 한국마린엔지니어링학회:학술대회논문집
• /
• 한국마린엔지니어링학회 2005년도 후기학술대회논문집
• /
• pp.230-231
• /
• 2005

As environmental problems are important, automotive industries are developing various techniques to prevent air pollution. One of these is Positive Crankcase Ventilation (PCV) system. It removes blowby gas which includes about 30% hydrocarbon of total generated quantity. In this system, a PCV valve is attached in a manifold suction tube to control the flow rate of blowby gas which generates differently according to various operating conditions of an automotive engine. As this valve is very important, designers are feeling to design it because of both small size and high velocity. For this reason, we numerically investigated to understand both spool dynamic motion and internal fluid flow characteristics. As the results, spool dynamic characteristics, i.e. displacement, velocity, acting force, increase in direct proportion to the magnitude of differential pressure and indicate periodic oscillating motions. And, the velocity at the orifice region decreases according to the increase of differential pressure because of energy loss which is caused by the sudden decrease of flow area at the orifice region and the increase of flow volume in the front of spool head. Finally, the mass flow rate at the outlet decreases with the increase of spool displacement. We expect that PCV valve designers can easily understand fluid flow inside a PCV valve with our visual information for their help.

• 대한기계학회논문집A
• /
• 제20권10호
• /
• pp.3186-3198
• /
• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 춘계학술대회
• /
• pp.1572-1577
• /
• 2003

High-power pulsed laser ablation under atmospheric pressure is studied utilizing numerical and experimental methods with emphasis on recondensation ratio, and the dynamics of the laser induced vapor flow. In the numerical calculation, the temperature pressure, density and vaporization flux on a solid substrate are first obtained by a heat-transfer computation code based on the enthalpy method, and then the plume dynamics is calculated by using a commercial CFD package. To confirm the computation results, the probe beam deflection technique was utilized for measuring the propagation of a laser induced shock wave. Discontinuities of properties and velocity over the Knudsen layer were investigated. Related with the analysis of the jump condition, the effect of the recondesation ratio on the plume dynamics was examined by comparing the pressure, density, and mass fraction of ablated aluminum vapor. To consider the effect of mass transfer between the ablation plume and air, unlike the most previous investigations, the equation of species conservation is simultaneously solved with the Euler equations. Therefore the numerical model computes not only the propagation of the shock front but also the distribution of the aluminum vapor. To our knowledge, this is the first work that employed a commercial CFD code in the calculation of pulsed ablation phenomena.

• 한국소음진동공학회논문집
• /
• 제13권7호
• /
• pp.562-569
• /
• 2003

An iterative modal analysis approach is developed to determine the effect of transverse open cracks on the dynamic behavior of simply supported pipe conveying fluid subject to the moving mass. The equation of motion Is derived by using Lagrange’s equation. The influences of the velocity of moving mass and the velocity of fluid flow and a crack have been studied on the dynamic behavior of a simply supported pipe system by numerical method. The presence of crack results In higher deflections of pipe. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments i.e. the crack is modelled as a rotational spring. Totally. as the velocity of fluid flow and the crack severity are increased, the mid-span deflection of simply supported pipe conveying fluid Is Increased. The time which produce the maximum dynamic deflection of the simply supported pipe Is delayed according to the increment of the crack severity.

• Smart Structures and Systems
• /
• 제13권4호
• /
• pp.659-683
• /
• 2014

The static analysis of structures with arbitrary cross-section geometry and material lamination via a refined one-dimensional (1D) approach is presented in this paper. Higher-order 1D models with a variable order of expansion for the displacement field are developed on the basis of Carrera Unified Formulation (CUF). Classical Euler-Bernoulli and Timoshenko beam theories are obtained as particular cases of the first-order model. Numerical results of displacement, strain and stress are provided by using the finite element method (FEM) along the longitudinal direction for different configurations in excellent agreement with three-dimensional (3D) finite element solutions. In particular, a layered thin-walled cylinder is considered as first assessment with a laminated conventional cross-section. An atherosclerotic plaque is introduced as a typical structure with arbitrary cross-section geometry and studied for both the homogeneous and nonhomogeneous material cases through the 1D variable kinematic models. The analyses highlight limitations of classical beam theories and the importance of higher-order terms in accurately detecting in-plane cross-section deformation without introducing additional numerical problems. Comparisons with 3D finite element solutions prove that 1D CUF provides remarkable three-dimensional accuracy in the analysis of even short and nonhomogeneous structures with arbitrary geometry through a significant reduction in computational cost.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 2008년도 춘계학술대회논문집
• /
• pp.354-357
• /
• 2008

Drag reduction is one of main concerns for commercial aircraft companies than ever because fuel price has been tripled in ten years. In this research, Natural Laminar Flow airfoil is designed and tested to reduce drag at cruise condition, $c_l$=0.3, Re=3.4${\times}$10$^6$ and M=0.6. NLF airfoil is characterized by delayed transition from laminar to turbulent flow, which comes from maintaining favorable pressure gradient to downstream. Transition is predicted by solving Boundary Layer equations in viscous boundary layer and by solving Euler Equation outside the boundary layer. Once boundary layer thickness and momentum thickness are obtained, $e^N$-method is used for transition point prediction. As results, KARI's NLF airfoil is designed and shows better characteristics than NLF-0115. The characteristics are tested and verified at low Reynolds numbers, but at high Reynolds numbers, laminar flow characteristics are not obtainable because of fully turbulent flow over airfoil surfaces. Precious experiences, however, relating NLF airfoil design, subsonic and transonic tests are acquired.

• 대한토목학회논문집
• /
• 제10권3호
• /
• pp.19-28
• /
• 1990

현수 곡선부재가 면내 자유진동할 때 발생하는 변위에 의한 합응력과 질량을 갖는 부채의 미소요소에 작용하는 관성력에 대한 동적 평형방정식을 이용하여 현수 곡선부재의 면내 자유진동을 지배하는 미분방정식을 유도하였다. 이 미분방정식에는 회전관성효과를 고려하였다. 이 미분방정식을 양단힌지 및 양단고정의 단부조건을 갖는 현수 곡선부재에 적용시키고 고유진동수와 진동형을 구하기 위하여 시행착오적 고유치문제와 Improved Euler method를 이용하여 수치해석 하였다. 수치해석 결과로 회전관성이 고유진동수에 미치는 영향을 고찰하고, 고유 진동수와 곡선부재 높이와의 관계 및 고유진동수와 세장비와의 관계를 그림에 나타내었다. 또한 진동형의 예를 그림에 나타내었다.

• 대한기계학회논문집A
• /
• 제24권9호
• /
• pp.2201-2210
• /
• 2000

Vibration of a rotating disk-spindle system is analyzed by using Hamilton's principle, FEM and substructure synthesis. A rotating disk undergoes the rigid body motion and the elastic deformation. It s equation of motion is derived by Kirchhoff plate theory and von Karman nonlinear strain. A rotating shaft is described by Rayleigh beam theory considering the axial rigid body motion. The stationay shaft supporting the rotating disk-spindle-bearing system is modeled by Euler beam theory, and the stiffness of ball bearing is determined by A.B.Jones' theory. FEM is used to solve the derived governing equations, and substructure synthesis is introduced to assemble each structure of the rotating disk-spindle system. The developed theory is applied to the spindle system of a 35' computer hard disk drive with 3 disks to verify the simulation results. The simulation results agree very well with the experimental ones. The proposed theory may be effectively expanded to the complex structure of a disk-spindle system.