• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2804-2807
• /
• 2000

This paper suggests a method of the forward dynamic analysis for the computer simulation on the analysis of the dynamic behavior for biped walking robot. The equations f motion of the system or the simulation are constructed by using the Method of the multibody dynamics which is powerful method for modeling of the complex biped system. For the simplicity of simulation, we consider that the sole of the contacting foot is affected by the reaction forces for tree structure system topology instead of the addition or deletion of the kinematic constraints. The ground reaction forces can be modeled using the simple spring and damper model at the three contacting points on the sole of the foot. For minimizing the errors of numerical integration, the number of equations of motion is minimized by adding the driving constraints or a controller instead of the direct driving torques.

• Journal of The Korean Astronomical Society
• /
• v.36 no.3
• /
• pp.145-148
• /
• 2003

P-Cygni type Ly$\alpha$ from starburst galaxies, either nearby galaxies or Lyman Break galaxies, are believed to be formed by galactic outflows such as galactic supershells or galactic superwinds. We develope a Monte Carlo code to calculate the Ly$\alpha$ line transfer in a galactic supershell which is expanding and formed of uniform and dusty neutral hydrogen gas. The escape of Ly$\alpha$ photons from the system is achieved by a number of back-scatterings. A series of emission peaks are formed by back-scatterings. When we observe P-Cygni type Ly$\alpha$ emissions of starforming galaxies, we can usually see merely singly-peaked emission. Hence the secondary and the tertiary emission humps should be destroyed. In order to do this, dust should be spatially more extended into the inner cavity than neutral supershell. We find that the kinematic information of the expanding supershell is conserved even in dusty media. We discuss the astrophysical applications of our results.

• International Journal of Automotive Technology
• /
• v.7 no.1
• /
• pp.115-120
• /
• 2006

On a rotating contact surface of arbitrary shape, the relative velocity of the contact point sliding between the surfaces is computed with the basic geometries of the rotating surfaces, and the acceleration of the contact point between the contact surfaces is computed by using the relative velocity of the contact point. Thus the equation for the acceleration constraint between the contact surfaces in muitibody dynamics is not coupled with the parameters such as the relative velocity of the contact point. In case of the kinematic analysis, the acceleration of the contact point on any specific instant may also be efficiently computed by the present technique because the whole displacement of a full cycle need not be interpolated. Employing a cam-follower mechanism as a verification model, the acceleration of the contact point computed by the present technique is compared with that computed by differentiating the displacement interpolated with a large number of nodal points.

• Steel and Composite Structures
• /
• v.13 no.6
• /
• pp.539-560
• /
• 2012

This study uses an explicit numerical algorithm to evaluate the ultimate load capacity analysis of a unit Strarch frame, accounting for the initial imperfection effects of the stress-erection process. Displacement-based filament beam element and an explicit dynamic relaxation method with kinetic damping are used to achieve the analysis. The section is composed of the finite number of filaments that can be conveniently modeled by various material models. Ramberg-Osgood and bilinear kinematic elastic plastic material models are formulated to analyze the nonlinear material behaviors of filaments. The numerical results obtained in the present study are compared with the results of experiment for stress-erection and buckling of unit Strarch frames.

• Steel and Composite Structures
• /
• v.32 no.5
• /
• pp.643-655
• /
• 2019

Perforation and cutouts of structures are compulsory in some modern applications such as in heat exchangers, nuclear power plants, filtration and microeletromicanical system (MEMS). This perforation complicates dynamic analyses of these structures. Thus, this work tends to introduce semi-analytical model capable of investigating the dynamic performance of perforated beam structure under free and forced conditions, for the first time. Closed forms for the equivalent geometrical and material characteristics of the regular square perforated beam regular square, are presented. The governing dynamical equation of motion is derived based on Euler-Bernoulli kinematic displacement. Closed forms for resonant frequencies, corresponding Eigen-mode functions and forced vibration time responses are derived. The proposed analytical procedure is proved and compared with both analytical and numerical analyses and good agreement is noticed. Parametric studies are conducted to illustrate effects of filling ratio and the number of holes on the free vibration characteristic, and forced vibration response of perforated beams. The obtained results are supportive in mechanical design of large devices and small systems (MEMS) based on perforated structure.

• Structural Engineering and Mechanics
• /
• v.71 no.1
• /
• pp.99-107
• /
• 2019

Wave propagation analysis of a porous graphene platelet reinforced (GPLR) nanocomposite shell is investigated for the first time. The homogenization of the utilized material is procured by extending the Halpin-Tsai relations for the porous nanocomposite. Both symmetric and asymmetric porosity distributions are regarded in this analysis. The equations of the shell's motion are derived according to Hamilton's principle coupled with the kinematic relations of the first-order shear deformation theory of the shells. The obtained governing equations are considered to be solved via an analytical solution which includes two longitudinal and circumferential wave numbers. The accuracy of the presented formulations is examined by comparing the results of this method with those reported by former authors. The simulations reveal a stiffness decrease in the cases which porosity influences are regarded. Also, one must pay attention to the effects of longitudinal wave number on the wave dispersion curves of the nanocomposite structure.

• The Bulletin of The Korean Astronomical Society
• /
• v.44 no.2
• /
• pp.50.1-50.1
• /
• 2019

Ultra Metal-Poor (UMP; [Fe/H] < -4.0) stars are thought to be true second generation of stars. Thus, the chemistry and kinematics of these stars serve as powerful tools to understand the early evolution of the Milky Way (MW). However, only about 40 of these stars have been discovered thus far. To increase the number of these stars, we selected UMP candidates from low-resolution spectra (R ~ 2000) of the Sloan Digital Sky Survey (SDSS) and Large Sky Area Multi-Object Fibre Spectroscopic Telescope (LAMOST), and performed high-resolution (R ~ 40,000) spectroscopic follow-ups with Gemini/GARACES. In this study, we present chemical and kinematic properties of the observed UMP candidates, and infer the nature of their progenitors to trace the chemical enrichment history of the MW.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.4
• /
• pp.63-68
• /
• 2018

The establishment of Ground Control Points (GCPs) in UAV-Photogrammetry is a working process that requires the most time and expenditure. Recently, the rapid developments of navigation sensors and communication technologies have enabled Unmanned Aerial Vehicles (UAVs) to conduct photogrammetric mapping without using GCP because of the availability of new methods such as RTK (Real Time Kinematic) and PPK (Post Processed Kinematic) technology. In this study, an experiment was conducted to evaluate the potential of RTK-UAV mapping with no GCPs compared to that of non RTK-UAV mapping. The positioning accuracy results produced by images obtained simultaneously from the two different types of UAVs were compared and analyzed. One was a RTK-UAV without GCPs and the other was a non RTK-UAV with different numbers of GCPs. The images were taken with a Canon IXUS 127 camera (focal length 4.3mm, pixel size $1.3{\mu}m$) at a flying height of approximately 160m, corresponding to a nominal GSD of approximately 4.7cm. As a result, the RMSE (planimetric/vertical) of positional accuracy according to the number of GCPs by the non-RTK method was 4.8cm/8.2cm with 5 GCPs, 5.4cm/10.3cm with 4 GCPs, and 6.2cm/12.0cm with 3 GCPs. In the case of non RTK-UAV photogrammetry with no GCP, the positioning accuracy was decreased greatly to approximately 112.9 cm and 204.6 cm in the horizontal and vertical coordinates, respectively. On the other hand, in the case of the RTK method with no ground control point, the errors in the planimetric and vertical position coordinates were reduced remarkably to 13.1cm and 15.7cm, respectively, compared to the non-RTK method. Overall, UAV photogrammetry supported by RTK-GPS technology, enabling precise positioning without a control point, is expected to be useful in the field of spatial information in the future.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.15-19
• /
• 2006

GPS has been increasingly exploited to provide positioning and navigation solutions for a variety of applications. In vessel berthing application, however, there are stringent requirements in terms of positioning accuracy, availability and integrity that cannot be satisfied by GPS alone. This is because the performance of satellite-based positioning and navigation systems are heavily dependent on both the number and the geometric distribution of satellite tracked by receivers. Due to the limited number of GPS satellites, a sufficient number of ‘visible’ satellites cannot be sometimes guaranteed. This paper discusses some issues associated with the implementation of ground-based pseudolite augmentation for vessel berthing. Pseudolite means small transmitter that transmits GPS-like signals in local area. Actually, pseudolite can play three different roles in GPS augmentation scheme, depending on the operational conditions. Firstly, in the case of kinematic GPS operation where there are no signal blockages, and more than five satellites are available, additional pseudolites strengthen the GPS satellite-pseudolite geometry, and more accurate and reliable positioning solution can be achieved. Secondly, in the case when there are adverse GPS operational environments in which the number of tracked satellites is less than four, pseudolites can complement the GPS signals. In the third case, GPS signals are completely unavailable, such as when operated indoor. In such cases the pseudolites can replace the satellite constellation. However, the first role will be considered in this paper, since more than four satellite signals can usually be tracked in most marine applications. This paper presents that the pseudolite-augmented precise positioning system can provides continuous centimeter-level positioning accuracy through comparison analysis of RDOP simulation result of the GPS satellite constellation and the pseudolite-augmented GPS satellite constellation.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.1
• /
• pp.10-17
• /
• 2007

Numerical results from the "figure-of-eight" motion of Phormia-Regina in Part 1 indicate that vortical structure and vortex dynamics do play a critical role in lift and thrust generation. The aerodynamic force generation of insects' wing could be governed by aerodynamic parameters such as Reynolds number; kinematic parameters such as frequency, amplitude, and component of the figure of eight motion; and morphological parameters such as wing shape and the number of wing. In the present work, the effects of Reynolds number, reduced frequency and motion component are investigated in detail to clarify aerodynamic characteristics of insect wing. Through numerical results and their physical interpretation, the mechanism of aerodynamic force generation is presented more clearly. Rotation turns out to be the most important component in thrust generation and subsequent counterclockwise rotational circulation is closely related with thrust generation.