• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.10
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• pp.910-919
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• 2015

A weapon control algorithm equipped on a fighter is closely related to the mission accomplishment and fighter survivability during the engagement. In the case of a air-to-surface missile, the weapon control algorithm typically provides a pilot the target shoot-down possible region known as launch acceptability region(LAR) in the multi function display(MFD). LAR is produced by the range table(RT) through computation of an engagement range. In this paper, the operation system of AGM-84 and AGM-88 air-to-surface missiles is introduced. And the engagement range computation and LAR algorithm based on the real-time pseudo 6-DOF simulation are proposed. In order to verify the performance of the algorithm, numerical engagement simulations of air-to-surface missiles to produce LAR have been done.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.207-212
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• 2010

This paper presents a spiral descending path and a landing guidance law for net-recovery of a fixed-wing unmanned aerial vehicle. The net-recovery landing flight is divided into two phases. In the first phase, a spiral descending path is designed from an arbitrary initial position to a final approaching waypoint toward the recovery net. The flight path angle is controlled to be aligned to the approaching direction at the end of the spiral descent. In the second phase, the aircraft is guided from the approaching waypoint to the recovery net using a pseudo pursuit landing guidance law. Six degree-of-freedom simulation is performed to verify the performance of the proposed landing guidance law.

• Journal of computational fluids engineering
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• v.21 no.3
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• pp.15-23
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• 2016

In the present study, two phase flows around a projectile vertically launched from an underwater platform have been numerically investigated by using a three dimensional multi-phase RANS flow solver based on pseudo-compressibility and a homogeneous mixture model on unstructured meshes. The relative motion between the platform and projectile was described by six degrees of freedom equations of motion with Euler angles and a chimera technique. The propulsive power of the projectile was modeled as the fluid force acting on the lower surface of the body by the compressed air emitted from the underwater platform. Various flow conditions were considered to analyze the fluid-dynamics motion parameters of the projectile. The water level of platform and the current speed around the projectile were the main parametric variables. The numerical calculations were conducted up to 0.75sec in physical time scale. The dynamics tendency of the projectile was almost identical with respect to the water level variation due to the constant buoyancy term. The moving speed of the projectile along the vertical axis inside the platform decreased when the current speed increased. This is because the inflow from outside of the platform impeded development of the compressed air emitted from the floor surface of the launch platform. As a result, the fluid force acting on the lower surface of the projectile decreased, and injection time of the projectile from the platform was delayed.

• Applied Chemistry for Engineering
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• v.32 no.3
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• pp.283-289
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• 2021

Adsorption characteristics of carbol fuchsin (CF) dye by coal-based activated carbon (CAC) were investigated using pH, initial concentration, temperature and contact time as adsorption variables. CF dissociates in water to have a cation, NH₂⁺, which is bonded to the negatively charged surface of the activated carbon in the basic region by electrostatic attraction. Under the optimum condition of pH 11, 96.6% of the initial concentration was adsorbed. Isothermal adsorption behavior was analyzed using Langmuir, Freundlich, Temkin and Dubinin-Radushkevich models. Langmuir's equation was the best fit for the experimental results. Therefore, the adsorption mechanism was expected to be adsorbed as a monolayer on the surface of activated carbon with a uniform energy distribution. From the evaluated Langmuir's dimensionless separation coefficients (R_L = 0.503~0.672), it was found that CF can be effectively treated by activated carbon. The adsorption energies determined by Temkin and Dubinin-Radushkevich models were E = 15.31~7.12 J/mol and B = 0.223~0.365 kJ/mol, respectively. Therefore, the adsorption process was physical (E < 20 J/mol, B < 8 kJ/mol). The experimental result of adsorption kinetics fit better the pseudo second order model. In the adsorption reaction of CF dye to CAC, the negative free energy change increased as the temperature increased. It was found that the spontaneity also increased with increasing temperature. The positive enthalpy change (40.09 kJ/mol) indicated an endothermic reaction.