• 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.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.7
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• pp.885-894
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• 2001

A large eddy simulation(LES) is performed for turbulent flow in a combustion device. The combustion device is simplified as a cylinder with sudden expansion. To promote turbulent mixing and to accommodate flame stability, a flame holder is attached inside the combustion chamber. Emphasis is placed on the flow details with different geometries of the flame holder. The subgrid scale models are applied and validated. The simulation code is constructed by using a general coordinate system based on the physical contravariant velocity components. The calculated Reynolds numbers are 5000 and 50000 based on the bulk velocity and the diameter of inlet pipe. The predicted turbulent statistics are evaluated by comparing with the LDV measurement data. The agreement of LES with the experimental data is shown to be satisfactory.

• 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 Advanced Marine Engineering and Technology
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• v.27 no.3
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• pp.437-446
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• 2003

A large eddy simulation (LES) is performed for turbulent pipe flow. The simulation code is constructed by using a general coordinate system based on the physical contravariant velocity components. The effects of grid fineness which can be well prediction of turbulent behavior in near wall region is investigated. The subgrid scale turbulent models are applied and validated emphasis is placed on the flow details of turbulent pipe flow The calculated Reynolds number is 360 based on the wall shear velocity and the inlet pipe diameter. The predicted turbulent statistics are evaluated by comparing with the DNS data of turbulent pipe flow Performed by Eggels et al. The agreement of LES with DNS data is shown to be satisfactory. The proper grid fineness of the well prediction of turbulent pipe flow is suggested and the turbulent behavior is analyzed by depict the contour plot of fluctuating velocity components.

• 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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.1
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• pp.31-37
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• 2003

A robust tracking control for nonholonomic dynamic systems is proposed in this paper. Since nonholonomic dynamic systems have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some functions of generalized coordinates, advanced techniques are needed for their control. It is shown that if the state of nonholonomic systems is mapped into a bounded space by a coordinate transformation, a robust controller for dynamic models of nonholonomic systems with input disturbances can be designed using sliding mode control. Stability and robustness of the proposed controller are proved in the Lyapunov sense. Numerical simulations on the trajectory tracking of a two-wheeled mobile robot are conducted to validate the effectiveness of the proposed controller.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.2
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• pp.313-324
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• 1992

Two-dimensional Navier-Stokes code has been developed for analysis of turbomachinery blade rows and other internal flows. The Navier-Stokes equations are written in a Cartesian coordinate system, then mapped into a generalized body-fitted coordinate system. All direction of viscous terms are incorporated and turbulent effects are modeled using the Baldwin-Lomax algebraic model. Equation are discretized using finite difference method on the C-type grids and solved using implicit LU-ADI decomposition scheme. Calculations are made at a VKI turbine cascade flow in a transonic wind-tunnel and compared to experimental data. Present numerical scheme is shown to be in good agreement with the previous experimental results and simulates the two-dimensional viscous flow phenomena.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.1
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• pp.98-108
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• 2004

This study concerns a large eddy simulation (LES) of turbulent flow around a bluff body inside a sudden expansion cylindrical chamber, a configuration which resembles a premixed gas turbine combustor The simulation code is constructed by using the general coordinate system based on the physical contravariant velocity components. The Smagorinsky model is employed and the calculated Reynolds number is 5,000 based on the bulk velocity and the diameter of the inlet pipe. The combined grid technique and cylindrical grid are tested in the numerical simulation with complex geometry. The predicted turbulent statistics are evaluated by comparing with LDV measurement data. The numerical flow visualizations depict the behavior of turbulent mixing process behind the flame holder.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.2
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• pp.200-207
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• 2009

Complex systems are made of many subsystems, those are developed and manufactured by many part companies. Even though the information for a part is necessary to analyze the performance of the other part, it is not so easy to get the information for that part from other companies due to many reasons like security or compatibilities. If the modal parameters of a system between the connecting points are available, we can reconstruct a reduced model for that system in a physical coordinate not in a generalized coordinate. The assemble of the equations of motion for the main system and the reduced equations of motion for the connected system can give a response of the main system considering the effects of connected systems. The results show that the proposed method can give the response of a system accurately. The rule for the selection of modes is to use the fundamental modes whose natural frequencies are low.