• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1210-1216
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• 2004

This paper deals with a human-like gait generation of a biped robot with a balancing weight of an inverted pendulum type by using genetic algorithm. The ZMP (Zero Moment Point) is the most important index in a biped robot's dynamic walking stability. To perform a stable walking of a biped robot, a balancing motion is required according to legs' trajectories and a desired ZMP trajectory. A dynamic equation of the balancing motion is nonlinear due to an inverted pendulum type's balancing weight. To solve the nonlinear equation by the FDM (Finite Difference Method), a linearized model of equation is proposed. And GA (Genetic Algorithm) is applied to optimize a human-like balancing motion of a biped robot. By genetic algorithm, the index of the balancing motion is efficiently optimized, and a dynamic walking stability is verified by the ZMP verification equation. These balancing motion are simulated and experimented with a real biped robot IWR-IV. This human-like gait generation will be applied to a humanoid robot, at future work.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Journal of Welding and Joining
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• v.16 no.5
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• pp.56-66
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• 1998

During solidification or welding of alloys, the solute redistribution brings out microsegregation. The microsegregation causes the formation of non-equilibrium second phases, shrinkage and porosity degrading mechanical/chemical properties Therefore, it has been required to predict microsegregation quantitatively. To predict the degree of microsegregation, more exact and appropriate computer simulation technique has been actively used during last two decades. To predict the degree of microsegregation in weld metal, an advanced two dimensional model was suggested. In the new model, both primary and secondary arm regions were defined for the analysis region. The growth in the primary arm regina was assumed to be a planar for effective calculation. Especially, for the growth of a secondary arm, a simple and effective mathematical function was established to show the growing pattern, the solute diffusion in the solid phase was calculated by finite difference method (FDM). The solid-liquid interface movement was considered to be in local equilibrium state. The experiments for welding of 310S stainless steel were carried out in order to examined the reasonability and feasibility of this model. The concentration profiles of the solute predicted by this model were compared with those obtained from experimental works.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1100-1103
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• 2003

One of the good ways to raise the rate of the electrochemical reaction is to broaden the effective surface area of the electrode by developing cylindrical nano-pores on the surfaces. The numerous pores of several nanometer in diameter can be used to enhance a specific faradaic reaction so that the nano-porous structure attract keen attention in terms of implication of new bio/chemical sensors, in which no chemical modification is involved. Amperometric glucose sensor is a representative example that needs the selective enhancement of glucose oxidation over the current due to physiological interferents such as ascorbic acid. The present paper reports how the ascorbic acid and glucose diffuse around the nano-porous surface by simulation study, for which 2D-FDM (Finite Difference Method) was adopted. The results of the simulation not only consist with those from electrochemical experiments but also reveal valuable potential for more advanced application of the nano-porous electrode.

• Computers and Concrete
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• v.25 no.6
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• pp.537-549
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• 2020

Geometrically nonlinear axisymmetric bending analysis of shear deformable circular plates on a nonlinear three-parameter elastic foundation was made. Plates ranging from "thin" to "moderately thick" were investigated for three types of material: isotropic, transversely isotropic, and orthotropic. The differential equations were discretized by means of the finite difference method (FDM) and the differential quadrature method (DQM). The Newton-Raphson method was applied to find the solution. A parametric investigation using seven unknowns per node was presented. The novelty of the paper is that detailed numerical simulations were made to highlight the combined effects of the material properties and the boundary conditions on (i) the deflection, (ii) the stress resultants, and (iii) the external load. The formulation was verified through comparison studies. It was observed that the results are highly influenced from the boundary conditions, and from the material properties.

• Tribology and Lubricants
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• v.14 no.4
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• pp.58-63
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• 1998

This paper presents a study of the elastohydrodynamic lubrication of elliptical contacts where lubricant entrainment coincides with the major axis of the Hertzian contact ellipse. A finite difference method and the Newton-Raphson method are applied to analyze the problem. Film contours and pressure distributions are compared with the results for lubricant entrainment coincides with the minor axis. Variations of the minimum and central film thicknesses with the radius ratio are also examined. The results showed that the present numerical scheme can be used generally in the analysis of the EHL of elliptical contacts where the lubricant entraining vector did not coincide with either of the principal axis of the conjunction.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.2 s.95
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• pp.148-155
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• 2005

As functional requirement of massive digital information storage devices are on a trend for the higher data transfer rate and lower cost, many different technical efforts are being tested and implemented in the industry. FDB(fluid dynamic bearing) is one of the major breakthroughs in rotor design in terms of TMR(track misregistration) budget. Although FDB analysis based on Reynolds' equation is well established and popularly being used for FDB design especially for the estimation of bearing stiffness, there are obvious limitations in the approach due to the inherent assumptions. A generalized analysis tool employing the full Navier-Stokes equation and the energy balance is to be beneficial for detailed FDB design. In this publication, an efficient geometry modeling method is presented that provides fully integrated inputs for general FVM/FDM(finite volume method/ finite difference method) codes. By virtue of the flexibility of the presented method, many different detailed FDB design and analysis are carried over with ease.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.466-469
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• 2008

As the industry develops, they are interested in the fault of electric machines and the effect on human beings by electromagnetic fields and waves which generate through much use of electric machines and appliances. In foreign country, they confirmed the standard about electromagnetic interference and compatibility(EMI/EMC) of electromagnetic fields and waves generating electricity transmission/distribution equipments and electric appliance. In Korea, such criteria are applied too. Before EMI/EMC standard is applied, it is important to prepare the plan to predict and reduce electromagnetic fields and waves which generate in the inner and the outer part of electric machinery. To solve such a problem, they calculated Maxwell's equations by finite element method(FEM) and finite difference method(FDM) in most papers. However, these methods have the disadvantage that mathematical expansions are complex and need much memory allocations for grid and mesh generations. In this paper, we introduce transmission line matrix(TLM) method that media of which trains consists are regarded as transmission lines for electromagnetic field calculation in Korean High Speed Train, calculate the electric and magnetic field, and analyze the results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.41-51
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• 2016

Friction generated from balls and grooves incurs temperature rise in the ballscrew system. Thermal deformation due to the heat degrades positioning accuracy of the feed drive system. To compensate for the thermal error, accurate prediction of the temperature distribution is required first. In this paper, to predict the temperature distribution according to the rotational speed, solid and hollow cylinders are applied for analysis of the ballscrew shaft and nut, respectively. Boundary conditions such as the convective heat transfer coefficient, friction torque, and thermal contact conductance (TCC) between balls and grooves are formulated according to operating and fabrication conditions of the ballscrew. Explicit FDM (finite difference method) is studied for development of a temperature prediction simulator. Its effectiveness is verified through numerical analysis.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.3
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• pp.158-168
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• 2001

Die design of die casting is composed of selection of cast alloy, design of die casting product, runner design and gate design, etc. In reality, however, die design of die casting has been performed by trial and error method, which cause economic and financial loss. Nowadays, several FEM(finite element method) and FDM(finite difference method) codes have been developed to analyze process of die casting, but this is just confined to an offer of limited information for die design of die casting. In this study, die design system for gate of die casting process has been developed to present algorithm for automation of die design, especially runner-gate system. In addition, specific rules for runner-gate system have been presented to avoid too many trials and errors with expensive equipment. It is possible for engineers to make automatic and efficient die design of die casting and it will result in reduction of expense and time to be required.