• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1787-1792
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• 2016

Previous walking pattern generation methods could generate walking patterns that allow only straight walking on flat and uneven terrain. They were unable to generate modifiable walking patterns whereby the sagittal and lateral step lengths and walking direction can be changed at every footstep. This paper proposes a novel walking pattern generation method to realize modifiable walking of humanoid robots on unknown uneven terrain. The proposed method employs a walking pattern generator based on the 3-D linear inverted pendulum model (LIPM), which enables a humanoid robot to vary its walking patterns at every footstep. A control strategy for walking on unknown uneven terrain is proposed. Virtual spring-damper (VSD) models are used to compensate for the disturbances that occur between the robot and the terrain when the robot walks on uneven terrain with unknown height. In addition, methods for generating the foot and vertical center of mass (COM) of the 3-D LIPM trajectories are developed to realize stable walking on unknown uneven terrain. The proposed method is implemented on a small-sized humanoid robot platform, DARwIn-OP and its effectiveness is demonstrated experimentally.

• Journal of the Korea Computer Graphics Society
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• v.5 no.1
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• pp.27-33
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• 1999

In this paper, we propose an efficient technique for the animation of flexible thin objects. Mass-spring model was employed to represent the flexible objects. Till now, many techniques have used the mass-spring model to generate plausible animation of soft objects. A straight-forward approach to the animation with mass-spring model is explicit Euler method, but the explicit Euler method has serious disadvantage that it suffers from 'instability problem'. The implicit integration method is a possible solution to overcome the instability problem. However, the most critical flaw of the implicit method is that it involves a large linear system. This paper presents a fast animation technique for mass-spring model with approximated implicit method. The proposed technique stably updates the state of n mass-points in O(n) time when the number of total springs are O(n). We also consider the interaction of the flexible object and air in order to generate plausible results.

• Proceedings of the KSR Conference
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• 1998.05a
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• pp.525-532
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• 1998

In this study, dynamic characteristics of catenary that supplies electrical power to high-speed trains is investigated. A particular emphasis is placed on the effect of droppers on the dynamic response of the contact wire, a dropper is an element that connects the contact wire with the messenger wire so as to maintain near uniform compliance, Finite element model compressing 3 spans is constructed. For the linear model, droppers are modeled as linear springs with various stiffness values. Modal analysis is performed to obtain the natural frequencies and modes and the variation in the modal density distribution for changing stiffness values are noted. Impulse response is also obtained through computer simulation. In practice, dropper is a nonlinear element with low stiffness in compression and high stiffness in tension. Hence, dropper can be modeled as a nonlinear spring with hi-directional stiffness values. Impulse and harmonic responses are obtained for the nonlinear model through simulation. The responses aye also compared with the linear cases.

• Wind and Structures
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• v.35 no.1
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• pp.35-54
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• 2022

A comparative study of aeroelastic vibrations of spring-mass cylinder and chimneys, with the help of a few wake oscillator models available in the literature, is presented. The models include those proposed by Facchinetti, Farshidian and Dolatabadi method-I, Farshidian and Dolatabadi method-II, de Langre, Skop and Griffin. Besides, the linear model proposed by Simiu and Scanlan is also incorporated in the study. For chimneys, the first mode oscillation is considered, and the top displacements of the chimneys are evaluated using the considered models. The results of the analytical model are compared with those obtained from the numerical solution of the wake-oscillator coupled equations. The response behavior of the cylinder and three chimneys of different heights are studied and compared with respect to critical parametric variations. The results of the study indicate that the numerical analysis is essential to capture the effect of non-linear aeroelastic phenomena in the solutions, especially for small damping. Further, except for the models proposed by Farshidian and Dolatabadi, other models predict nearly the same responses. The non-linear model predicts a much higher response as compared to the linear model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.449-454
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• 2000

A three-parameter model of viscoelastic damper, which has a non-linear spring as an element is incorporated into an oscillator. The behavior of the damper model shows non-linear hysteresis curves which is qualitatively similar to those of real viscoelastic materials. The motion is governed by three-dimensional non-linear dynamical system of equations. The harmonic balance method is applied to get analytic solutions of the system. The frequency-response curves show that multiple solutions co-exist and that the jump phenomena can occur. In addition, it is shown that separate solution branch exists and that it can merge with the primary response curve. Saddle-node bifurcation sets explain the occurences of such non-linear phenomena. A direct time integration of the original equation of motion validifies the use of the harmonic balance method to this sort of problem.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.246-255
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• 2016

When spring of the suspension is exerted by an external load, a car should be designed to prevent predictable damages and designed for a ride comfort. We used experiments design to design VON-MISES STRESS and K, a constant, of spring of suspension which is installed in a car as a goal level. We analyzed the result from Edison's Elastic - Plastic Analysis SW(CSD_EPLAST) by setting D, d, n as external diameter of coil, internal diameter of coil, the number of total coil respectively. The experiment design let the outcome be as Full-second order by using Box-Behnken which is one of response surface methods. Experimented and analyzed results based on the established experiments design, We found out design parameter which has desired VON-MISES STRESS and the constant K. Additionally, we predicted life time of when the external load was exerted by repeated load by using fatigue equation, and verification of plastic deformation has also been made. Additionally we interpreted a model, which is formed by optimized design parameter, with linear analysis and non-linear analysis, at the same time we also analyzed plastic deformation with the values from the both models. Finally, we predicted fatigue life of optimized model by using fatigue estimation theory and also evaluated a ride comfort with oscillation analysis.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.105-112
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• 2005

Analyses of dynamic models which were one and two degrees of freedom, and had the nonlinear springs and dampings with certain polynomial functions were performed from SIMULINK in MATLAB. Those consisted of 12 programs and were built on the basis of the preceding programs fur the linear dynamic simulations. However the programs for the nonlinear simulations were quite different from those f3r the linear ones, and showed the results of the analyses in real time with animating. It was found that the programs would help us to solve any kind of nonlinear dynamic simulation with one and two degrees of freedom. Especially, the simulations for 1 DOF system with cubic nonlinear spring farce showed the results for Duffing's equation, of which phenomena were jump-up and jump-down. It will be applied to the dynamic simulation of the car seat vibration with a passenger, of which model has the equivalent nonlinear springs and is two degrees of freedom.

• The Journal of the Korea Contents Association
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• v.11 no.9
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• pp.1-8
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• 2011

A fuzzy inference technique for real-time textile animation without integration at textile model based Mass-Spring model is introduced. Until now many techniques have used the Mass-Spring model to describe elastically deformable objects like textile. A textile object is able to represent as a deformable surface composed of spring and masses, the movement of textile surface which is analysed through the numerical integration by the fundamental law of dynamics such as Hooke's law. However, the integration methods have 'instability problems' if the explicit Euler's method is applied or 'large amounts of calculation' if the implicit Euler's method is applied. A simple and fast animation technique for Mass-Spring model of a textile with fuzzy inference is proposed. The stabilized simulation result is obtained the state of each mass-point in real-time for the n of mass-points by a relatively simple calculation.

• Advances in materials Research
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• v.11 no.1
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• pp.41-57
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• 2022

This paper is focused on delamination analysis of a multilayered inhomogeneous viscoelastic beam subjected to linear creep under constant applied stress. The viscoelastic model that is used to treat the creep consists of consecutively connected units. Each unit consists of one spring and two dashpots. The number of units in the model is arbitrary. The modulus of elasticity of the spring in each unit changes with time. Besides, the modulii of elasticity and the coefficients of viscosity change continuously along the thickness, width and length in each layer since the material is continuously inhomogeneous in each layer of the beam. A time-dependent solution to the strain energy release rate for the delamination is derived. A time-dependent solution to the J-integral is derived too. A parametric analysis of the strain energy release rate is carried-out by applying the solution derived. The influence of various factors such as creep, material inhomogeneity, the change of the modulii of elasticity with time and the number of units in the viscoelastic model on the strain energy release rate are clarified.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.04a
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• pp.401-406
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• 2002

A numerical model is introduced to simulate propagation, reflection, and scattering of elastic waves in solids. The model consists of mass points and linear springs, interconnected with in a lattice structure; hence, its name, the mass-spring lattice model (MSLM). The MSLM has successfully been applied to the numerical simulation and visualization of various elastic wave phenomena involved in ultrasonic nondestructive testing (NDT). This method is useful to simulate, design, or analyze actual testing. Some representative examples of numerical simulation using the MSLM are presented, and future work necessary for its further development Is addressed.