• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• Journal of The Korean Astronomical Society
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• v.34 no.4
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• pp.271-273
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• 2001

We present a 4-parameter implicit Lagrangean code which satisfies conservation of mass, linear and angular momenta, energy and entropy simultaneously. The primary advantage of this scheme is possibility to control dissipative properties of the scheme avoiding the effects of numerical viscosity.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.550-559
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• 2004

In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momenta Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation.

• Journal of The Korean Astronomical Society
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• v.40 no.4
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• pp.179-182
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• 2007

Dynamical friction plays an important role in reducing angular momenta of objects in orbital motions. While astronomical objects usually follow curvilinear orbits, most previous studies focused on the linear-trajectory cases. Here, we present the gravitational wake due to, and dynamical friction on, a perturber moving on a circular orbit in a uniform gaseous medium using a semi-analytic method. The circular orbit causes the density wakes to bend along the orbit into asymmetric configurations, resulting in the drag forces in both opposite (azimuthal) and lateral (radial) directions to the perturber motion, although the latter does not contribute to the orbital decay much. For a subsonic perturber, the bending of a wake is only modest and the resulting drag force in the opposite direction is remarkably similar to the linear-trajectory counterpart. On the other hand, a supersonic perturber is able to overtake its own wake, possibly multiple times, creating a high-density trailing tail. Despite the dramatic changes in the wake morphologies, the azimuthal drag force is in surprisingly good agreement with the formulae of Ostriker for the linear-trajectory cases, provided $V_pt=2R_p,\;where\;V_p\;and\;R_p$ are the velocity and orbital radius of the perturber, respectively.

• Ocean Systems Engineering
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• v.7 no.3
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• pp.299-318
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• 2017

The paper aims at illustrating several key issues and ongoing efforts for development of a reliable fully-Lagrangian particle-based solver for simulation of hydroelastic slamming. Fluid model is founded on the solution of Navier-Stokes along with continuity equations via an enhanced version of a projection-based particle method, namely, Moving Particle Semi-implicit (MPS) method. The fluid model is carefully coupled with a structure model on the basis of conservation of linear and angular momenta for an elastic solid. The developed coupled FSI (Fluid-Structure Interaction) solver is applied to simulations of high velocity impact of an elastic aluminum wedge and hydroelastic slammings of marine panels. Validations are made both qualitatively and quantitatively in terms of reproduced pressure as well as structure deformation. Several remaining challenges as well as important key issues are highlighted. At last, a recently developed multi-scale MPS method is incorporated in the developed FSI solver towards enhancement of its adaptivity.

• Journal of Astronomy and Space Sciences
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• v.20 no.3
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• pp.205-216
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• 2003

The attitude motion of a spin-stabilized, upper-stage spacecraft is investigated based on a two-body model, consisting of a symmetric body, representing the spacecraft, and a spherical pendulum, representing the liquid slag pool entrapped in the aft section of the rocket motor. Exact time-varying nonlinear equations are derived and used to eliminate the drawbacks of conventional linear models. To study the stability of the spacecraft's attitude motion, both the spacecraft and pendulum are assumed to be in states of steady spin about the symmetry axis of the spacecraft and the coupled time-varying nonlinear equation of the pendulum is simplified. A quasi-stationary solution to that equation and approximate resonance conditions are determined in terms of the system parameters. The analysis shows that the pendulum is subject to a combination of parametric and external-type excitation by the main body and that energy from the excited pendulum is fed into the main body to develop the coning instability. In this paper, numerical examples are presented to explain the mechanism of the coning angle growth and how angular momenta and disturbance moments are generated.