• Proceedings of the Korea Water Resources Association Conference
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• 2005.09a
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• pp.225-226
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• 2005

• Journal of the Society of Naval Architects of Korea
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• v.36 no.4
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• pp.37-47
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• 1999

A Finite Volume Method for the discretization of the two-dimensional incompressible Navier-Stokes equation is used to analyse water entry & exit problems in a generalized coordinate system. The free-surface deformations generated by the water entry or exit of a rigid body are simulated by the Level-Set scheme[11]. In the water entry problems for a wedged section and a flared-ship section, the calculation results of water impact force are compared with the experimental results[5] and the time varying free-surface deformations and flow characteristics of the water exit of a cylinder are investigated.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.285-286
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• 2002

The lubricating characteristics of negative pressure slider were performed by using divergence formulation method with the coordinate transformation method. This method makes it possible to deal with an arbitrary configuration of a lubricated surface. The pressure profile of the slider is calculated. These results are compared to that from direct numerical method. The steady-state, including minimum film thickness, pitching and rolling angle are calculated by multi-dimensional Newton-Rapson method. The stiffness and damping characteristics are also calculated.

• Architectural research
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• v.9 no.1
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• pp.39-45
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• 2007

The static behavior of continuous system is described by the elastic curve method or is approximately analyzed by a finite element method to be modeled as a discrete system. If a continuous system is constrained by linear constraints which restrict its static behavior, its behavior can be approximately described by the finite element method. It is not easy to describe the constrained behavior by continuous coordinate system. Starting from the generalized inverse method provided by Eun, Lee and Chung, this study is to expand the equation to the continuous systems, to perform the structural analysis of the beam under a uniform loading with interior spring supports, and to investigate the validity of the proposed method through applications.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1239-1245
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• 2002

A formulation which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds is presented in this paper. Since the relative coordinates are employed, constraint equations at cut joints are incorporated into the formulation. To obtain the steady-state equilibrium position of a multibody system, nonlinear equations are derived and solved iteratively. The nonlinear equations consist of the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed formulation, two numerical examples are solved and the results are compared with those of a commercial program.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.339-343
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• 1992

For the analysis of dynamic behavior of dynamic behavior of multibody systems by cartesian coordinate method, maximal sets of generalized coordinates and maximum numbers of differential equation and constraints must be considered. Therefore the inefficiency of the increase of CPU time is occurred. This paper is to analyze the dynamic system by using the relative coordinate method without violating the geometric condition of systems. The graph theory and system topology were used for this study. The dynamic systems could be analyzed by the automatic generation of the informations like equation of motion, constraints, and external forces etc. And the results were compared and verified with dynamic commercial package DADS.

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.43-48
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• 1998

The development of unsteady three-dimensional incompressible viscous solver based on unsteady physical curvilinear coordinate system is presented. A 12-point finite analytic scheme based on local uniform grid spacing is extended for nonuniform grid spacing. The formulation of a condition is suggested to avoid the oscillation of the series summations produced by the application of the method of separation of variables. SIMPLER and pressure Poisson equation techniques are used for solving a velocity-pressure coupled problem. The matrix is solved using the Generalized Minimal RESidual (GMRES) method to enhance the convergence rate of unsteady flow solver and the Kinematic boundary condition of a free surface flow. It is demonstrated that the numerical solutions of these equations are less mesh sensitive.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.