• Journal of Ocean Engineering and Technology
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• v.37 no.6
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• pp.256-265
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• 2023

Many numerical methods have been developed since 1961, but unresolved issues remain. This study developed a numerical method to address these issues and determine the coefficients and properties of rotational waves with a shear current in a finite water depth. The number of unknown constants was reduced significantly by introducing a wavelength-independent coordinate system. The reference depth was calculated independently using the shooting method. Therefore, there was no need for partial derivatives with respect to the wavelength and the reference depth, which simplified the numerical formulation. This method had less than half of the unknown constants of the other method because Newton's method only determines the coefficients. The breaking limit was calculated for verification, and the result agreed with the Miche formula. The water particle velocities were calculated, and the results were consistent with the experimental data. Dispersion relations were calculated, and the results are consistent with other numerical findings. The convergence of this method was examined. Although the required series order was reduced significantly, the total error was smaller, with a faster convergence speed.

• ETRI Journal
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• v.16 no.2
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• pp.27-41
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• 1994

A new mathematical model to predict the beam pointing instability of a nonconservative two-body satellite system in spinning injection mode has been developed by using Newton-Euler and projection methods. Since the on-axis and null axis of the omni antenna with toroidal pattern beam form a right angle, wobbling of the antenna on-axis is measured by determining the Euler angles which represent the orientation of the satellite's spin axis. Because of the complexity of the system which is a time varying, nonstationary, nonlinear dynamical system, a numerical method is used for the analysis. Computer simulation results present the effects of the mass distribution and internal mass motion on the antenna beam pointing.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.183-187
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• 1989

This paper presents on approach to the position control of a robot manipulator by using a decentralized adaptive control scheme. The large scale system is regarded as the system which consists of many subsystems having interconnection. In each subsystem, a local control system is composed by feedforward and feedback component, one computes the nominal torque from the Newton-Euler equation, the other computes the perturbation equation which reduce the position error of the manipulator along the nominal trajectory. A computer simulation studies was conducted to evaluate and compare the performances of the proposed manipulator control scheme with those of the PD control and centralized control schemes.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.2
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• pp.197-215
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• 2015

Modeling water flow in variably saturated, porous media is important in many branches of science and engineering. Highly nonlinear relationships between water content and hydraulic conductivity and soil-water pressure result in very steep wetting fronts causing numerical problems. These include poor efficiency when modeling water infiltration into very dry porous media, and numerical oscillation near a steep wetting front. A one-dimensional finite element formulation is developed for the numerical simulation of variably saturated flow systems. First order backward Euler implicit and second order Crank-Nicolson time discretization schemes are adopted as a solution strategy in this formulation based on Picard and Newton iterative techniques. Five examples are used to investigate the numerical performance of two approaches and the different factors are highlighted that can affect their convergence and efficiency. The first test case deals with sharp moisture front that infiltrates into the soil column. It shows the capability of providing a mass-conservative behavior. Saturated conditions are not developed in the second test case. Involving of dry initial condition and steep wetting front are the main numerical complexity of the third test example. Fourth test case is a rapid infiltration of water from the surface, followed by a period of redistribution of the water due to the dynamic boundary condition. The last one-dimensional test case involves flow into a layered soil with variable initial conditions. The numerical results indicate that the Crank-Nicolson scheme is inefficient compared to fully implicit backward Euler scheme for the layered soil problem but offers same accuracy for the other homogeneous soil cases.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.1
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• pp.102-109
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• 1986

Based on the Hartenberg-Denavit symbolic equation, which is one of equations for the kinematic analysis of three dimensional (3-D) linkage, a generalized kinematic motion equation is derived utilizing Euler angles and employing the coordinates transformation. The derived equation can feasibly be used for the motion analysis of any type of 3-D linkages as well as 2-D ones. In order to simulate the general motion of 3-D linkgages on digital computer, the generalized equation is programmed through the process of numerical analysis after converting the equation to the type of Newton-Raphson formula and denoting it in matrix form. The feasibility of theoretically derived equation is experimentally proved by comparing the results from the computer with those from experimental setup of three differrent but generally empolyed 3-D linkages.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.05a
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• pp.272-275
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• 2007

This paper is concerned with modified integration algorithm on the strain-space for rate and temperature dependent elasto-plastic constitutive relations in order to obtain more accurate results in numerical implementation. The proposed algorithm is integrated analytically using integration by part and chain rule and then is applied to the 2-stage Lobatto IIIA with second-order accuracy. It has advantage that is able to consider the convective stress rates on the yield surface of the strain-space. Also this paper is carried out the iteration procedure using the Newton-Raphson method to enforce consistency at the end of the step. And the performance of the proposed algorithm for rate and temperature dependent constitutive relation is illustrated by means of analysis of adiabatic shear bands.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.894-897
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• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.161-172
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• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• Journal of Biomedical Engineering Research
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• v.25 no.4
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• pp.301-307
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• 2004

An inverse dynamic model of lower limbs is presented to calculate joint moments during gait. The model is composed of 4 segments with 3 translational joints and 12 revolute joints. The inverse dynamic method is based on Newton-Euler formalism. Kinematic data are obtained from 3 dimensional trajectories of markers collected by a motion analysis system. External forces applied on the foot are measured synchronously using force plate. The use of developed model makes it possible to calculate joint moments for variation of parameters.

• Structural Engineering and Mechanics
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• v.34 no.3
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• pp.319-334
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• 2010

The dynamic response of a finite Bernoulli-Euler beam resting on a tensionless Pasternak foundation and subjected to a concentrated harmonic load is investigated in this study. This load may be applied at the center of the beam, or it may be offset from the center. Since the elastic foundation is assumed to be tensionless, the beam may lift off the foundation, resulting in contact and non-contact regions in the system. An analytical/numerical solution is obtained from the governing equations of the contact and non-contact regions to determine the coordinates of the lift-off points. Although there is no nonlinear term in the equations, the problem appears to be nonlinear since the contact regions are not known in advance. Due to that nonlinearity, the essentials of the problem (the coordinates of the lift-off points) are calculated numerically using the Newton-Raphson technique. The results, which represent the symmetric and asymmetric responses of the beam, are presented graphically in this work. They illustrate the effects of the forcing frequency and the beam length on the extent of the contact regions and displacements.