• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.10
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• pp.1500-1508
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• 2004

Stress and displacement fields for a crack propagating along interface between isotropic material and functionally gradient one with linear property gradation along X direction are developed. The stress and displacement fields are obtained from the complex function of steady plane motion for isotropic and functionally gradient material (FGM). The stresses and displacement in isotropic material of bimaterial are not influenced by nonhomogeneity, however, the fields in FCM are influenced by nonhomogeneity in the terms of higher order, n$\geq$3. When the nonhomogeneous parameter in FGM is zero, or in area close to crack tip, the fields are identical to those of isotropic-isotropic bimaterial. Using these stress components, the effects of nonhomogeneity on stresses are discussed.

• Journal of the Society of Naval Architects of Korea
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• v.40 no.5
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• pp.17-25
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• 2003

Velocity field behind a container ship model with a rotating propeller has been investigated using PIV (particle image velocimetry) system. Four hundred instantaneous velocity fields were measured at 4 different blade phases and ensemble-averaged to investigate the spatial evolution of vortical structure of near wake within one propeller diameter downstream. The phase-averaged mean velocity fields show the potential wake and the viscous wake formed due to the boundary layers developed on the blade surfaces. The interaction between bilge vortex developed along the hull surface and the tangential velocity component of incoming flow causes to have asymmetric flow structure in the transverse plane.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.337-340
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• 2005

The effect of residual stress on fatigue crack growth was investigated in terms of finite element analysis. Simulations were performed on a CT specimen in plane strain. An interface-cohesive element that accounts for damage accumulation due to fatigue along the notch direction has been used. Numerical results show that fatigue crack growth rate slows down when compressive residual stress field exists in front of the crack tip.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.855-861
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• 2005

Fracture toughness defined near the initiation of stable crack growth is investigated by R-curve and Direct Current electric Potential Determination(DCPD) under mode I plane strain conditions for CT specimen with 25.4mm thickness of SS400 steel. Fracture toughness. $J_{IC}$lit near crack tip of CT specimen by R-curve is 17.14 $kg_{f}/mm$ and however. its value by DCPD is 22.82 $Rg_{f} mm$ The value of fracture toughness by DCPD is larger than that by R-curve. Therefore, it is suggested that the evaluation of fracture toughness by R-curve is optimum than by DCPD, when considering amount of crack growth about each of fracture toughness.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1989-1995
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• 2004

Finite element analysis(FEA) is the most popular numerical method to simulate plasticity-induced fatigue crack closure and can predict fatigue crack closure behavior. Finite element analysis under plane stress state using 4-node isoparametric elements is performed to investigate the detailed closure behavior of fatigue cracks and the numerical results are compared with experimental results. The mesh of constant size elements on the crack surface can not correctly predict the opening level for fatigue crack as shown in the previous works. The crack opening behavior for the size mesh with a linear change shows almost flat stress level after a crack tip has passed by the monotonic plastic zone. The prediction of crack opening level presents a good agreement with published experimental data regardless of stress ratios, which are using the mesh of the elements that are in proportion to the reversed plastic zone size considering the opening stress intensity factors. Numerical interpolation results of finite element analysis can precisely predict the crack opening level. This method shows a good agreement with the experimental data regardless of the stress ratios and kinds of materials.

• Structural Engineering and Mechanics
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• v.27 no.5
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• pp.609-623
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• 2007

The problem of a semi-infinite magneto-electro-elastically impermeable mode-III crack in a magneto-electro-elastic material is considered under the action of impact loads. For the case when a pair of concentrated anti-plane shear impacts, electric displacement and magnetic induction impacts are exerted symmetrically on the upper and lower surfaces of the crack, the magneto-electro-elastic field ahead of the crack tip is determined in explicit form. The dynamic intensity factors and dynamic energy density factor are obtained. The method adopted is to reduce the mixed initial-boundary value problem, by using the Laplace and Fourier transforms, into three simultaneous dual integral equations, one of which is converted into an Abel's integral equation and the others into a singular integral equation with Cauchy kernel. Based on the obtained fundamental solutions of point impact loads, the solutions of two kinds of different loading cases are evaluated by integration. For some particular cases, the present results reduce to the previous results.

• Tribology and Lubricants
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• v.19 no.5
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• pp.292-297
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• 2003

The fundamental fluid mechanics associated with the rotation of a smooth plane disk enclosed within a cylindrical chamber have been studied experimentally. In order to acquire systematic information pertinent to this problem torque and friction loss data were obtained over a wide range of disk Reynolds numbers for axial clearance-disk radius ratio H/R from 0.025 to 0.2 and radial tip gap-disk radius ratio s/R from 0.021 to 0.105. Loss analysis of hard disk drive (HDD) is presented to describe the contribution of windage loss of a rotating disk. The minimum loss form factor of HDD can be obtained from this analysis at each operation conditions.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.8
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• pp.884-892
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• 1988

An asymptotic solution of electromagnetic waves scattered by an arbitrary-angled dielectric wedge in the E-polarized plane wave incidence is obtained by adding a correction to the physical optical fields given in the previous paper of these companion papers, Part I. The source for the asymptotic correction field valid in the far-field region can be equivalent to the multipole line sources at the tip of the wedge, of which coefficients are evaluated numerically by solving a dual series equation. The corrected field patterns are plotted for the typical case treated in Part I.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.14-16
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• 2010

A Duct surrounding a fan is known to reduce the tip loss and increase the fan performance efficiency. It also reduces the fan noise drastically. Ducted fan, therefore, has been focused to be a promising candidate for high efficient propulsion system. In this study, a small plane having ducted fan which can be tilted for vertical take-off and landing, is analyzed by CFD and its aerodynamic characteristics are compared. Ductef fan aircraft has small range of angle of attack for mininum drag and duct design should be focused for efficient ducted fan aircraft.