• Journal of Advanced Marine Engineering and Technology
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• 제36권5호
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• pp.609-617
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• 2012

The flow characteristics of polluted air are analysed by comparing the results obtained from PIV(Particle Image Velocimetry) experiment and CFD(Computational Fluid Dynamics) commercial code. In order to simulate the polluted air flow, the olive oil has been used as tracer particles with the kinematic viscosity of air, $1.51{\times}10^{-5}m^2/s$. The investigation has done in the range of Reynolds numbers of 870, 1730 and 2890 due to the inlet flow velocities of 0.3, 0.6, and 1.0 m/s, respectively. The average velocity and the pressure distributions are comparatively discussed with respect to the three different Reynolds numbers. The results show that the outlet flow rates at three different Reynolds numbers are equivalent of 165 to 167 percent of the inlet ones. The pressure drop occurs in the model closed at both end sides and the highest pressures at each Reynolds number are positioned at the top of the tunnel between the inlet and outlet.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• Structural Engineering and Mechanics
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• 제56권1호
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• pp.107-121
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• 2015

The main objective of this research is to present the procedures of combining topology, shape & sizing optimization for truss structure by employing strain energy as objective function under the constraints of volume fractions which yield more general solution than that of total weight approach. Genetic Algorithm (GA) is used as searching engine for the convergence solution. A number of algorithms from previous research are used for evaluating the feasibility and stability of candidate to accelerate convergence and reduce the computational effort. It is followed by solving problem for topology & shape optimization and topology, shape & sizing optimization of truss structure to illustrate the feasibility of applying the objective function of strain energy throughout optimization stages.

• Smart Structures and Systems
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• 제25권4호
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• pp.501-514
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• 2020

This article presents a comprehensive model to investigate a free vibration and resonance frequencies of nanostructure perforated beam element as nano-resonator. Nano-scale size dependency of regular square perforated beam is considered by using nonlocal differential form of Eringen constitutive equation. Equivalent mass, inertia, bending and shear rigidities of perforated beam structure are developed. Kinematic displacement assumptions of both Timoshenko and Euler-Bernoulli are assumed to consider thick and thin beams, respectively. So, this model considers the effect of shear on natural frequencies of perforated nanobeams. Equations of motion for local and nonlocal elastic beam are derived. After that, analytical solutions of frequency equations are deduced as function of nonlocal and perforation parameters. The proposed model is validated and verified with previous works. Parametric studies are performed to illustrate the influence of a long-range atomic interaction, hole perforation size, number of rows of holes and boundary conditions on fundamental frequencies of perforated nanobeams. The proposed model is supportive in designing and production of nanobeam resonator used in nanoelectromechanical systems NEMS.

• Smart Structures and Systems
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• 제25권4호
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• pp.447-457
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• 2020

In this study, a simple two-dimensional shear deformation model is employed for buckling analysis of functionally graded (FG) plates. The proposed theory has a kinematic with integral terms which considers the influence of shear deformation without using "shear correction factors". The impact of varying material properties and volume fraction of the constituent on buckling response of the FG plate is examined and discussed. The benefit of this theory over other contributions is that a number of variables is reduced. The basic equations that consider the influence of transverse shear stresses are derived from the principle of virtual displacements. The analytical solutions are obtained utilizing the "Navier method". The accuracy of the proposed theory is proved by comparisons with the different solutions found in the literature.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.486-494
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• 2006

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2356-2361
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• 2005

In this paper, we present a complete isotropy analysis of a caster wheeled omnidirectional mobile robot(COMR) with nonredundant/redundant actuation. The motivation of this work is that the omnidirectional mobility loses significance in motion control unless the isotropy characteristics is maintained well. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which describe the wheel configurations. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived to completely identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations and the characteristic length required for the isotropy are discussed.

• Structural Engineering and Mechanics
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• 제13권6호
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• pp.653-670
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• 2002

In order to ensure the structural dynamic stability of moving liquid-storage containers, the flow motion of interior liquid should be appropriately suppressed by means of mechanical devices such as the disc-type elastic baffle. In practice, the design of a suitable baffle requires a priori the parametric dynamic characteristics of storage containers, with respect to the design parameters of baffle, such as the installation location and inner-hole size, the baffle number, and so on. In this paper, we intend to investigate the parametric effect of the baffle parameters on the transient dynamic behavior of a cylindrical fuel-storage tank in an abrupt vertical acceleration motion. For this goal, we employ the ALE (arbitrary Lagrangian-Eulerian) kinematic description method incorporated with the finite element method.

• 한국분무공학회지
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• 제11권2호
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• pp.105-112
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• 2006

A unique feature of fluidic atomizers is that the nozzle geometry produces a thin capillary Jet which is forced to oscillate on a 2-dimensional plane through the use of a passive feedback mechanism. The objective of the current work is to characterize the influence of the stagnation pressure at the nozzle exit, jet oscillation and stretching on the breakup properties of the capillary ligament. To achieve this, shadow graph technique is used to measure size, shape, velocity and the number density of the droplets as a function of the position within the spray fan. The breakup length, defined as the radial distance from the breakup point, is analyzed as a function of the non-dimensional parameters. Finally, a kinematic model is developed to simulate the breakup of the oscillating jets at low stagnation pressures. Using the existing jet breakup theories, the model is used to predict the size and diameter distribution of the droplets after primary atomization.

• Journal of Mechanical Science and Technology
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• 제16권2호
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• pp.137-146
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• 2002

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.