• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.561-566
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• 2015

In this paper, the operating stiffness of a parallel robot used to handle heavy packages is optimized. Because the studied model, called a "pick and place robot," is applied for packaging logistics, it is important for the robot to be lightweight so that it may respond rapidly and have high stiffness to allow sufficient operating precision. However, these two requirements of low weight and high stiffness are mutually exclusive. Thus, the dynamic characteristics of the robot are analyzed through multibody dynamics analysis, and topology optimization is conducted to achieve this exclusive performance. Lastly, the reliability of the topology optimization is verified by applying the optimized design to the parallel robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.465-474
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• 2012

In this study, a dynamic simulation model that considers many spherical particles and multibody dynamics (MBD) entities is developed. Plenteous spherical particles are solved using the Discrete Element Method (DEM) technique and simulated on a GPU board in a PC. A fast algorithm is used to calculate the Hertzian contact forces between many spherical particles, and NVIDIA CUDA is used to increase the calculation speed. The explicit integration method is applied to solve the many spheres. MBD entities are simulated by recursive formulation. Constraints are reduced by recursive formulation, and the implicit generalized alpha method is applied to solve the dynamic model. A new algorithm is developed to simulate the DEM and MBD models simultaneously. As a numerical example, a truck car model and gear model are developed. The results show that the proposed algorithm using a general-purpose GPU in a PC has many advantages.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.581-587
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• 2016

Braking is a basic and an important safety feature for all vehicles, and the final braking performance of a vehicle is determined by the vehicle's ABS performance and tire performance. However, the combination of excellent ABS and tires will not always ensure good braking performance. This is due to the fact that tire performance has non-linearity and uncertainty in predicting the repeated increase and decrease of wheel slip when activating the ABS, thus increasing the uncertainty of tire performance prediction. Furthermore, existing studies predicted braking performance after using an ABS that used a wheel slip control as a controller, which was different from an actual vehicle's ABS that controlled angular acceleration, therefore causing a decrease in the prediction accuracy of the braking performance. This paper reverse-designed the ABS that controlled angular acceleration based on the information on brake pressure, etc., which were obtained from vehicle tests, and established a braking performance prediction analysis model by combining a multi-body dynamics(MBD) vehicle model and a magic formula(MF) tire model. The established analysis model was verified after comparing it with the results of the braking tests of an actual vehicle. Using this analysis model, this study analyzed the braking effect by vehicle factor, and finally designed a tire that had optimized braking performance. As a result of this study, it was possible to design the MF tire model whose braking performance improved by 9.2 %.

• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.13-22
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• 2010

This paper describes tagline PD control for reduction of motion for the heavy cargo(load) suspended by a floating crane. The equations of motion are set up considering the 6-degree-of-freedom floating crane and the 6-degree-of-freedom load based on multi-body system dynamics. The tagline mechanism is applied to floating crane to control motion of the heavy cargo(load). The winch, mounted on the deck of floating crane, is used to control the tension of tagline. To generate control force, PD control algorithm is applied. Numerical simulation and experiment is executed to verify the tagline control mechanism. The numerical simulation and experiment shows that the tagline control mechanism reduces the motion of the load suspended by a floating crane.

• Wind and Structures
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• v.34 no.1
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• pp.127-136
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• 2022

In this work a multi-fidelity non-intrusive polynomial chaos (MF-NIPC) has been applied to a structural wind engineering problem in architectural design for the first time. In architectural design it is important to design structures that are safe in a range of wind directions and speeds. For this reason, the computational models used to design buildings and bridges must account for the uncertainties associated with the interaction between the structure and wind. In order to use the numerical simulations for the design, the numerical models must be validated by experi-mental data, and uncertainties contained in the experiments should also be taken into account. Uncertainty Quantifi-cation has been increasingly used for CFD simulations to consider such uncertainties. Typically, CFD simulations are computationally expensive, motivating the increased interest in multi-fidelity methods due to their ability to lev-erage limited data sets of high-fidelity data with evaluations of more computationally inexpensive models. Previous-ly, the multi-fidelity framework has been applied to CFD simulations for the purposes of optimization, rather than for the statistical assessment of candidate design. In this paper MF-NIPC method is applied to flow around a rectan-gular 5:1 cylinder, which has been thoroughly investigated for architectural design. The purpose of UQ is validation of numerical simulation results with experimental data, therefore the radius of curvature of the rectangular cylinder corners and the angle of attack are considered to be random variables, which are known to contain uncertainties when wind tunnel tests are carried out. Computational Fluid Dynamics (CFD) simulations are solved by a solver that employs the Finite Element Method (FEM) for two turbulence modeling approaches of the incompressible Navier-Stokes equations: Unsteady Reynolds Averaged Navier Stokes (URANS) and the Large Eddy simulation (LES). The results of the uncertainty analysis with CFD are compared to experimental data in terms of time-averaged pressure coefficients and bulk parameters. In addition, the accuracy and efficiency of the multi-fidelity framework is demonstrated through a comparison with the results of the high-fidelity model.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.6
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• pp.520-526
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• 2013

This article presents the reduction of vibration generated by an automobile fuel pump. In order to analyze the vibration of the fuel pump, a simplified dynamic model is established, which is composed of a rigid rotor and a equivalent springs. The equivalent stiffnesses of the upper and lower assemblies are evaluated by the comparison of modal testing results and the finite element analysis. The stiffness for the oil film of the journal bearing is extracted by using Reynold's equation. In addition, the time responses for the vibration of the fuel pump are computed by using a commercial multi-body dynamics software, RecurDyn. Based on these results, some design suggestions are proposed to reduce the vibration of an automobile fuel pump.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1491-1495
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• 2004

For the evaluation of the mobile robot performance in complex environments, the experimental approach in an actual physical environment has been commonly taken. In the physical experimental approach, however, it is quite difficult to define the proper environment for the evaluation due to the lack of commonly agreed characteristics of the test environment. Particularly the number of combinations of types and physical parameters of the obstacles that the mobile robot is expected to deal with is practically unlimited. In an effort to simplify and improve the effectiveness of the evaluation process, we propose an evaluation method using decomposed environmental elements, where we evaluated the performance of the robot for a small group of simple and decomposed obstacle components, for examples projection and slope, instead of a large group of complicated random obstacles. The paper describes a set of simple obstacle models and performance parameters that we have chosen for the effective evaluation process. As an alternative to the physical experimental evaluation approach, in this paper, we used a virtual evaluation environment where the robot and the physical test environment has been modeled using a commercial multi-body dynamics analysis packaged called RecurDyn.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.2
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• pp.134-147
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• 2015

This study proposes a method to determine the effective angular velocity of each motor of a specific four-rows tracked vehicle (FRTV) in order to follow a given turning radius. The configuration of the four-rows tracked vehicle is introduced, and its dynamics analysis model is built using the DAFUL commercial software. The soil has been assumed to be hard ground, and the friction force between the ground and the tracked links is calculated using the Coulomb friction model. This paper uses a simulation to show that the error in the position increased with respect to the angle of the curvatures, so a method is proposed to compensate for the error in the motion of the motors. Various simulations are then carried out to verify the proposed formulation. The effects of the soil characteristics and the driving velocity will be further investigated in future studies.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.7
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• pp.542-550
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• 2018

This paper presents design of a bearingless main rotor of SNUF (Seoul National University Flap) blade equipped with active trailing-edge flap to reduce the hub vibratory loads during helicopter forward flight. For that purpose, sectional design of the flexbeam is carried out using the thin-walled composite material rotating beam vibration analysis program (CORBA77_MEMB) in EDISON. Using the multi-body dynamics analysis program, DYMORE, blade dynamic characteristics and those of the loads control are examined using the active trailing-edge flap in terms of the flexbeam sectional design.

• Journal of computational fluids engineering
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• v.3 no.1
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• pp.89-99
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• 1998

한국형 차세대원자로에서는 비상노심 안전주입수가 저온관을 통하지 않고 원자로용기에 직접 주입된다. 원자로용기의 가압열충격과 열수력적 관점에서 최적의 노즐위치를 결정하기 위해서 전산유체역학을 활용하였다. 상용 전산유체코드인 CFX를 이용하여 원자로 하향유로를 모사하는 해석대상 격자를 다중불록으로 형성한 다음 유동장을 비압축성 Navier-Stokes 운동량 방정식, 에너지 방정식과 표준 k-ε 난류모형 등으로 모형화하여 3차원 비정상상태 계산을 수행하였다. CFX에서는 경계 밀착좌표계, 비엇물림격자와 SIMPLE 알고리즘을 사용한다. 본 연구결과 원자로용기의 가압열충격 관점에서 가장 보수적인 사고인 증기관 파단사고시에도 열적혼합이 잘 일어나 가압열충격이 발생할 가능성이 없는 것으로 판단되며 안전주입수 노즐이 저온관 바로 위에 위치할 때 원자로 하향유로 내의 온도 분포가 가장 균일하여 열적 혼합 관점에서는 최적의 위치로 판단된다.