• 한국소음진동공학회논문집
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• 제15권5호
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• pp.586-594
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• 2005

In this paper, we studied about the effects of the rotating cantilever pipe conveying fluid with a moving mass. The influences of a rotating angular velocity, the velocity of fluid flow and moving mass on the dynamic behavior of a cantilever pipe have been studied by the numerical method. The equation of motion is derived by using the Lagrange's equation. The cantilever pipe is modeled by the Euler-Bernoulli beam theory. When the velocity of a moving mass is constant, the lateral tip-displacement of a cantilever pipe is proportional to the moving mass and the angular velocity. In the steady state, the lateral tip-displacement of a cantilever pipe is more sensitive to the velocity of fluid than the angular velocity, and the axial deflection of a cantilever pipe is more sensitive to the effect of a angular velocity. Totally, as the moving mass is increased, the frequency of a cantilever pipe is decreased in steady state.

• 대한조선학회논문집
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• 제49권5호
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2004년도 제22회 춘계학술대회논문집
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• pp.186-191
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• 2004

The reactive flowfield of the transverse injecting combustor has been studied using Euler-Lagrange method in order to develop an efficient solution procedure for the understanding of liquid spray combustion in the transverse injecting combustor which has been widely used in ramjets and turbojet afterburners. The unsteady two-dimensional gas-phase equations have been represented in Eulerian coordinates and the liquid-phase equations have been formulated in Lagrangian coordinates. The gas-phase equations based on the conservation of mass, momentum, and energy have been supplemented by combustion. The vaporization model takes into account the transient effects associated with the droplet heating and the liquid-phase internal circulation. The droplet trajectories have been determined by the integration of the Lagrangian equation in the flow field obtained from the separate calculation without considering the iterative effect between liquid and gas phases. The reported droplet trajectories had been found to deviate from the initial conical path toward the flow direction in the very end of its lifetime when the droplet size had become small due to evaporation. The integration scheme has been based on the TEACH algorithm for gas-phase equation, the second order Runge-Kutta method for liquid-phase equations and the linear interpolation between the two coordinate systems. The calculation results has shown that the characteristics of the droplet penetration and recirculation have been strongly influenced by the interaction between gas and liquid phases in such a way that most of the vaporization process has been confined to the wake region of the injector, thereby improving the flame stabilization properties of the flowfield.

• 한국전자통신학회논문지
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• 제7권5호
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• pp.1139-1144
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• 2012

산업용 로봇의 하중률은 1대 10에서 1대 30이고, 3대 1의 하중률을 가지는 인간과 비교하여 매우 낮다. 다음 세대 로봇의 목표 중에 하나는 하중률이 될 것이고, 이것은 가벼운 로봇을 개발함으로 가능할 것이다. 2관절 유연한 로봇팔은 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 오일러 베르누이의 보 이론과 라그랑지 방정식을 이용하여 구하였고, $\dot{D}-2C$가 skew symmetric이다는 사실을 사용하여, 계산량을 줄이는 리아프노프 안정도 이론을 이용한 단순한 구조의 새로운 제어기를 제안한다. 2링크 유연한 로봇에 대한 확정적인 적응제어 법칙을 제안하고, 시뮬레이션을 통하여 그 타당성을 보인다.

• Water Engineering Research
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• 제3권2호
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• pp.75-84
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• 2002

An Euler-Lagrange two-phase flow model is presented fur simulation sheet-flow transport under wave and current. The flow is computed by solving the Reynolds Averaged Navier-Stokes equation in conjunction with the k-$\varepsilon$ turbulence model for turbulence closure. The sediment transport is introduced as a motion of granular media under the action of unsteady flow from the Lagragian point of view. In other word, motion of every single particle is numerically traced with Movable Bed Simulator (MBS) code based on the Distinct Element Method (DEM), in which the frequent interparticle collision of the moving particles during the sheet-flow transport is sophisticatedly taken into account. The particle diameter effect on time-dependent developing process of sheet-flow transport is investigated, by using three different diameter sizes of sediment. The influence of an imposed current on oscillatory sheet-flow transport is also investigated. It is concluded that the sediment transport rate increases due to the relaxation process related to the time-lag between flow velocity and sediment motion.

• 한국생산제조학회지
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• 제26권1호
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Structural Engineering and Mechanics
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• 제46권3호
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• pp.417-431
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• 2013

This paper presents responses of the free end of a cantilever micro beam under the effect of an impact force based on the modified couple stress theory. The beam is excited by a transverse triangular force impulse modulated by a harmonic motion. The Kelvin-Voigt model for the material of the beam is used. The considered problem is investigated within the Bernoulli-Euler beam theory by using energy based finite element method. The system of equations of motion is derived by using Lagrange's equations. The obtained system of linear differential equations is reduced to a linear algebraic equation system and solved in the time domain by using Newmark average acceleration method. In the study, the difference of the modified couple stress theory and the classical beam theory is investigated for the wave propagation. A few of the obtained results are compared with the previously published results. The influences of the material length scale parameter on the wave propagation are investigated in detail. It is clearly seen from the results that the classical beam theory based on the modified couple stress theory must be used instead of the classical theory for small values of beam height.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.165-175
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• 1997

Brain potential is described by using Euler Lagrange equation derived from Lagrangian based on SMNI(Statistical Mechanics of Neocortical Interaction). It is assumed that excitatory neuron firing is amplitude-modulated dominantly by the sum of two modes of frequency ${\omega}and 2 {\omega}$ . Time series of this neuron firing is numerically calculated. $I_{L}$related to low frequency distribution of power spectrum, $I_{H}$high frequency, and S(standard deviation) are introduced for the effective extraction of the dynamic property in this simulated brain potential. $I_{L}$,$I_{H}$, and S are obtained from EEG of 4 persons in rest state and are compared with thoretical results. It is of importance in various fields related to human well-being such as comfort-pursued industrial design, psychology, medicine to characterize human emotional states by EEG analysis. The pleasant and unpleasant sensation among various emotional states would be demonstrated to be determined in terms of ${\epsilon}$ and ${\gamma}$ parameters estimated by the simulated $I_{L}$-$I_{H}$-S relations.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

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