• 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.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1036-1041
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• 2003

Non-destruction examinations are required in medical sciences and various engineering now. We wish to emulate the examinations in very simplified experiments. It is an educational program. We show a neural network analysis to predict the locations of a sound-source or a body irradiated by sound-waves in audio-region. The sound is an interest flux, and it enables to clear local-structures in a non-transparent space. However, the sound-propagation equations are not solved easily, therefore, we consider to adopt multi-layer neural-networks instead of the direct solutions. We used detected intensities and coordinates for input data and teaching data. A neural network learned them. The neural-network analysis decomposed the distance of 50cm. The resolution is rather rough; however, it is caused by the limitation of our equipments. Since there is no problem in the neural network processing, if we could revise experiments, then, progress of the resolution would be got. Thus, the proposed method functioned as an educational and simplified non-destruction examination.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.681-685
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• 2004

A media-feeding (or media-transport) system is a key component in daily consumer systems such as printers, copiers and ATM's. The role of the media-transport system is to feed a medium, which is usually in the form of a thin film, to the main process in a uniform and repeatable manner. Even small slippage between the media and the feeding rollers could significantly degrade the performance of the entire system. The slippage between the medium and the feeding rollers is determined by many parameters which include the friction coefficient between the feeding rollers and the medium material, the angular velocity of the feeding rollers, and the normal force applied by feeding rollers on the medium. This paper investigates the effect of the normal force and the angular velocity of feeding rollers on the slippage of the medium. Authors have constructed a test bed for experiments, which consists of a feeding module and various measuring devices. Using regular paper as media being fed, the authors experimentally measured the slippage of the medium under various normal forces and angular velocities of driving feeding roller. Also the authors developed a novel two-dimensional simulation model for the media-transport system. The paper medium is modeled as a set of multiple rigid bodies interconnected by revolute joints and rotational springs and dampers. Simulations were executed using a multi-body dynamic analysis tool called RecurDy $n^{ⓡ}$. The slippage obtained by the simulation is compared to experimental results.ults.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1608-1615
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• 2000

The track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to pre vent the peal-off of tracks from the road wheels, it is required to maintain the optimum track tension throughout the maneuver. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this paper an indirect track tension monitoring system is developed based on idler assembly models, a geometric relation around the idler, and the tractive force estimated by using the Extended Kalman Filter. The performance of the tension monitoring system is verified with the results obtained from the Multi-Body Dynamics model.

• Smart Structures and Systems
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• v.6 no.2
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• pp.167-182
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• 2010

An adaptronic strut for machine tools with parallel kinematics for compensation of the influence of geometric errors is introduced. Implemented within the strut is a piezoelectric sensor-actuator unit separated in function. In the first part of this contribution, the functional principle of the strut is presented. For use of one piezoelectric transducer as both, sensor and actuator as so-called self-sensing actuator, the acquisition of the sensing signal while actuating simultaneously using electrical bridge circuits as well as filter properties are examined. In the second part the control concept developed for the adaptronic strut is presented. A co-simulation model of the strut for simulating the controlled multi-body behavior of the strut is set-up. The control design for the strut as a stand-alone system is tested under various external loads. Finally, the strut is implemented into a model of the complete machine tool and the influence of the controlled strut onto the behavior of the machine tool is examined.

• Structural Engineering and Mechanics
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• v.61 no.6
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• pp.775-784
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• 2017

This study is devoted to developing many new substructure models for ballasted railway track by using the pyramid model philosophy. As the effect of railway embankment has been less considered in the previous studies in the field of vehicle/track interaction, so the present study develops the pyramid models in the presence of railway embankment and implements them in vehicle/track interaction dynamic analyses. Considering a moving car body as multi bodies with 10 degrees of freedom and the ballasted track including rail, sleeper, ballast, subgrade and embankment, two categories of numerical analyses are performed by considering the new substructure systems including type A (initiation of stress overlap areas in adjacent sleepers from the ballast layer) or type B (initiation of stress overlap areas in adjacent sleepers from the subgrade layer). A comprehensive sensitivity analyses are performed on effective parameters such as ballast height, sleepers spacing and sleeper width. The results indicate that the stiffness of subgrade, embankment and foundation increased by increasing the ballast height. Also, by increasing the ballast height, rail and ballast vertical displacement decreased.

• Structural Engineering and Mechanics
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• v.59 no.4
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• pp.683-701
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• 2016

Safety is the prime concern for a high-speed railway bridge, especially when it is subjected to a collision. In this paper, an analysis framework for the dynamic responses of train-bridge systems under collision load is established. A multi-body dynamics model is employed to represent the moving vehicle, the modal decomposition method is adopted to describe the bridge structure, and the time history of a collision load is used as the external load on the train-bridge system. A (180+216+180) m continuous steel trussed-arch bridge is considered as an illustrative case study. With the vessel collision acting on the pier, the displacements and accelerations at the pier-top and the mid-span of the bridge are calculated when a CRH2 high-speed train running through the bridge, and the influence of bridge vibration on the running safety indices of the train, including derailment factors, offload factors and lateral wheel/rail forces, are analyzed. The results demonstrate that under the vessel collision load, the dynamic responses of the bridge are greatly enlarged, threatening the running safety of high-speed train on the bridge, which is affected by both the collision intensity and the train speed.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1324-1331
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• 2003

A bushing is a device used in automotive suspension systems to cushion the force transmitted from the wheel to the frame of the vehicle. A bushing is essentially a hollow cylinder which is bonded to a solid metal shaft at its inner surface and a metal sleeve at its outer surface. The shaft is connected to the suspension and the sleeve is connected to the frame. The cylinder provides the cushion when it deforms due to relative motion between the shaft and sleeve. The relation between the force applied to the shaft or sleeve and its deformation is nonlinear and exhibits features of viscoelasticity. An explicit force-displacement relation has been introduced for multi-body dynamics simulations. The relation is expressed in terms of a force relaxation function and a method of determination by experiments on bushings has been developed. Solutions allow for comparison between the force-displacement behavior by experiments and that predicted by the proposed method. It is shown that the predictions by the proposed force-displacement relation are in very good agreement with the experimental results.

• Ocean Systems Engineering
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• v.8 no.3
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• pp.329-343
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• 2018

The inclination of seabed profile (sloped seabed) is one of the known topographic features which can be observed at different seabed level in the large offshore basin. A mooring system connected between the platform and global seabed is an integral part of the floating structure which tries to keep the floating platform settled in its own position against hostile sea environment. This paper deals with an investigation of the motion responses of an FPSO platform moored on the sloped seabed under the combined action of wave, wind and current loads. A three-dimensional panel discretization method has been used to model the floating body. To introduce the connection of multi-segmented non-linear elastic catenary mooring cables with the sloped seabed, a quasi-static composite catenary model is employed. The model and analysis have been completed by using hydrodynamic diffraction code AQWA. Validation of the numerical model has been successfully carried out with an experimental work published in the latest literature. The analysis procedure in this study has been followed time domain analysis. The study involves an objective oriented investigation on platform motions, in order to identify the effects of the slopped seabed, the action of the wave, wind and current loads and the presence of riser system. In the end, an effective analysis has been performed to identify a stable mooring model in demand of reducing structural responses of the FPSO.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.10
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• pp.1678-1683
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• 2001

The mobility of tracked vehicles is mainly influenced by the interaction between tracks and soil, so that the characteristics of their interactions are quite important fur the tracked vehicle study. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road-wheels, the Dynamic Track Tensioning System (DTTS) which maintains the optimum track tension throughout the maneuver is required. It consists of track tension monitoring system, track tension controller and hydraulic system. In this paper, a dynamic track tensioning system is developed for tracked vehicles which are subject to various maneuvering tasks. The track tension is estimated based on the idler assembly model. Using the monitored track tension and con sidering the highly nonlinear hydraulic units, fuzzy logic controllers are designed in order to control the track tension. The track tensioning performance of the proposed DTTS is verified through the simulation of the Multi -body Dynamics tool.