• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.914-919
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• 1993

The kinematic resolutions of redundancy is addressed in this paper. The governing equation for quasistatic behavior of compliance governed redundant manipulators is formulated and the repeatable property of the manipulator is proposed. Then the compliance paradigm is used to resolve the redundancy in a repeatable way. The compliance paradigm is one under which the controller simulates the imaginary manipulator which is governed to move by real joint stiffness. The equation is expressed as the weighted pseudoinverse with the configuration dependent weighting matrix. Algorithmic singularities arisen from this scheme are also discussed.

• Journal of computational fluids engineering
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• v.11 no.4 s.35
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• pp.90-100
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• 2006

A digital wave tank (DWT) simulation technique has been developed by authors to investigate the interactions of fully nonlinear waves with 3D marine structures. A finite-difference/volume method and a modified marker-and-cell (MAC) algorithm have been used, which are based on the Navier-Stokes (NS) and continuity equations. The fully nonlinear kinematic free-surface condition is implemented by the marker-density function (MDF) technique or the Level-Set (LS) technique developed for one or two fluid layers. In this paper, some applications for various engineering problems with free-surface are introduced and discussed. It includes numerical simulation of marine environments by simulation equipments, fully nonlinear wave motions around offshore structures, nonlinear ship waves, ship motions in waves and marine flow simulation with free-surface. From the presented simulations, it seems that the developed DWT simulation technique can handle various engineering problems with free-surface and reliably predict hydrodynamic features due to the fully-nonlinear wave motions interacting with such marine structures.

• Journal of Industrial Technology
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• v.19
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• pp.43-50
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• 1999

Vehicle suspensions can be regarded as interconnection of rigid bodies with kinematic joints and compliance elements such as springs, bushings, and stabilizers. Design of a suspension system requires detailed specification of the interconnection point (or so called hard points) and characteristic values of compliance elements. During the design process, these design variables are determined to meet some prescribed performance targets expressed in terms of SDFs (Static Design Factors), such as toe, camber, compliance steer, etc. This paper elaborates on a systematic approach to achieve optimum design of suspension systems.

• Journal of the Korean Society for Railway
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• v.11 no.3
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• pp.311-316
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• 2008

Ratcheting is a cyclic accumulation of strain under a cyclic loading. It is a kind of mechanisms which generate cracks in rail steels. Though some experimental and numerical study has been performed, modeling of ratcheting is still a challenging problem. In this study, an elastic-plastic constitutive equation with non-linear kinematic hardening equation was applied. Contact stresses in wheel-rail were analyzed. Under the tangential stress of the contact stresses, a cyclic stress-strain relation was obtained by using the model. A constant ratcheting strain per cycle was accumulated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.174-180
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• 2002

A virtual reality technology for multipurpose numerical simulation is developed to reproduce and investigate a variety of ocean environmental problems in a 3D-Numerical Wave Tank. The governing equations for solving incompressible fluid motion are Navier-Stokes equation and continuity equation, and the Marker-Density function technique is adopted to implement the fully-nonlinear free-surface kinematic condition. The marine environmental situations, i.e. waves, currents, wind, etc., are reproduced by use of multi-segmented wavemaker on the basis of the so-called "snake-principle". In this paper, some numerical reproduction techniques for regular and irregular waves, multi-directional waves, Bull's-eye wave, wave-current, and solitary wave are presented, and a model test in motion with large amplitude of roll angle is conducted in the developed 3D-NWT, using a overlaid grid system.

• Geomechanics and Engineering
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• v.32 no.2
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• pp.125-135
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• 2023

Nonlinear vibration analysis of composite beam reinforced by carbon nanotubes resting on the nonlinear viscoelastic foundation is investigated in this study. The material properties of the composite beam is considered as a polymeric matrix by reinforced carbon nanotubes according to different distributions. With using Hamilton's principle, the governing nonlinear partial differential equations are derived based on the Euler-Bernoulli beam theory. In the nonlinear kinematic assumption, the Von Kármán nonlinearity is used. The Galerkin's decomposition technique is utilized to discretize the governing nonlinear partial differential equation to nonlinear ordinary differential equation and then is solved by using of multiple time scale method. The nonlinear natural frequency and the nonlinear free response of the system is obtained. In addition, the effects of different patterns of reinforcement, linear and nonlinear damping coefficients of the viscoelastic foundation on the nonlinear vibration responses and phase trajectory of the carbon nanotube reinforced composite beam are investigated.

• Journal of Korea Water Resources Association
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• v.45 no.4
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• pp.419-430
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• 2012

Due to the calculation difficulty on the hydraulic and hydrologic analysis for road drainage facilities design, these analysis techniques are not applicable. This study's result are development of minutely rainfall-intensity equation suitable for road drainage area, verification of rainfall-runoff model joining kinematic wave theory for road drainage area, computational model based GUI for road surface drainage facilities spacing and culvert's size decision and various road drainage channel design. Applicable test on the developed model is proceed, result that in case of road surface dranage facilities spacing is narrower 6~65% than present spacing calculation method, in other case of road cross dranage facilities size is bigger 6~140% than present size decision method.

• Water for future
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• v.27 no.2
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• pp.147-154
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• 1994

The occurrence condition of debris fiow due to rainfall is given by solving the equations for fiow on a slope. The solution shows that a debris fiow will occur on a slope when the accumulated rainfall within the time of concentration exceeds a certain value determined by the properties of the slope. To estimate this critical value, the system analysis technique would be commendable. In this study, a procedure to fine the critical rainfall from the rainfall data whith and without debris flows is proposed. Reliability of this method is verified by applying to the debris flows in Unzen Volcano which recently began to erupt. Discharge of debris flow in a stream is obtained by solving the equation of continuity using the kinematic wave theory and assuming the cross sectional area to be a function of discharge. The computed hydrographs agree weel with the ones observed at the rivers in Sakurajima and Unzen Volcanos. It is found from the derived equation that the runoff intensity of debris flow is in proportion to the rainfall intensity and accumulated rainfall, jointly. This gives a theoretical basis to the conventional method which has been widely used.

• Water for future
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• v.25 no.1
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• pp.101-110
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• 1992

In this paper for simulating spatially and temporally varied moving storm in a watershed a distributed model was developed. The model is conducted by two major flow simulations which overland flow simulation and channel network flow simulation. Two dimensional continuity equation and momentum equation of kinematic approximation are used in the overland flow simulation. On the other hand, in the channel networks simulation two types of governing equations which are one dimensional continuity and momentum equations between two adjacent sections in a channel, and continuity and energy equations at a channel junction are applied. The finite element formulations were used in the overland flow simulation and the implicit finite difference formulations were used in the channel network simulation. The finite element formulations for the overland flow are analyzed by the Gauss elimination method and the finite difference formulations for the channel network flow are analyzed by the double sweep method having advantages of computational speed and reduced computer storages. Several recurrent coefficient equations for channel network simulation are suggested in the paper.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10a
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• pp.148-151
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• 2003

In order to achieve reliable but cost-effective crash simulations of stamped parts, sheet forming process effects were incorporated in simulations using the ideal forming theory mixed with the 3D hybrid membrane/shell method, while the subsequent crash simulations were carried out using a dynamic explicit finite element code. Example solutions performed for forming and crash simulations of I- and S-shaped rails verified that the proposed approach is cost-effective without sacrificing accuracy. The method required a significantly small amount of additional computation time, less than 3% for the specific examples, to incorporate sheet forming effects to crash simulations. As for the constitutive equation, the combined isotropic-kinematic hardening law and the non-quadratic anisotropic yield stress potential as well as its conjugate strain-rate potential were used to describe the anisotropy of AA6114-T4 aluminum alloy sheets.