• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2244-2249
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• 2007

A directly heated $SO_3$ decomposer for the sulfur-iodine and hybrid-sulfur processes has been introduced and analyzed by using a computational fluid dynamics code(CFD) with the CFX 5.7.1. The use of a directly heated decomposition reactor in conjunction with a VHTR allows higher decomposition reactor operating temperature. However, the thermochemical and hybrid hydrogen production processes accompanied with the high temperature and strongly corrosive operating conditions basically have material problems. In order to resolve these problems, we carried out the development of a structural material and equipment design technologies. The results show that the maximum temperature of the structural material (RA330) could be maintained at 800$^{\circ}C$ or less. Also, it can be seen that the mean temperature of the reaction region packed with catalysts in the $SO_3$ decomposition reactor could satisfy the temperature condition of around 850 $^{\circ}C$ which is the target temperature in this study.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1481-1484
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• 1997

The vehicle driving simulator expects vehicle motion with real-time simulation arise from driver's steering, accelerating, stopping and simulates motion of vehicl with visula, audio and washout algorithm. And it gives a vivid feeling to driver in reality. Vehicle driving simulator with vehicle integration control system is used for analysis of analysis of vehicle controllaility, steering capacity and safety in various pseudo environment alike. basides, it analyzeds vehicle safety factor dirver's reaction and promotes traffic safety without driver's own risks. The main proceduress of development of the vehicle driving simulator are classified by 3 parts. first the motion base system which can be generated by the motion queues, should be developed. Secondly, real-time vehicle software which can afford the vehicle dynamics, might be constructed. The third procedure is the integration of vehicle driing simulator which can be interconnected between visual systems with motion base. In this study, we are to study of the motion base for a vehicle driving simulator design and that of its real time control and using an extra gyro sensor and accelerometers to find a position and an orientatiion of the moving platform except for calculating forward kinematics. To drive the motion base, we use National Instruments corp's Labview software. Furthemore, we use analysis module for the vehicle motionand the washout algorithm module to consummate driving simulator, which can be driven by human in reality, so we are doing experimentally process about various vehicle motion conditon.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.5
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• pp.681-687
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• 2003

Terrain surfaces have to be modeled in very detail and wheel-surface contacting geometry must be well defined in order to obtain proper ground-reaction and friction forces fur realistic simulation of off-road vehicles. Delaunay triangulation is one of the most widely used methods in modeling 3-dimensional terrain surfaces, and the T-search is a relevant algorithm for searching resulting triangular polygons. The T-search method searches polygons in a successive order and may not allow real-time computation of off-road vehicle dynamics if the terrain is modeled with many polygons, depending on the computer performance used in the simulation. The dynamic T-search, which is proposed in this paper, combines conventional T-search and the concept of the dynmaic-window search which uses reduced searching windows or sets of triangular surface polygons at each frame by taking advantage of the information regarding dynamic charactereistics of a simulated vehicle. Numerical tests show improvement of searching speeds by about 5% for randomly distributed triangles. For continuous search following a vehicle path, which occurs in actual vehicle simulation, the searching speed becomes 4 times faster.

• Explosives and Blasting
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• v.21 no.4
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• pp.37-42
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• 2003

The source of rock breakage by explosive blasting is the energy released from an explosive. It is transmitted to the surrounding rock mass causing various types of fracture of rock material. The reaction of explosives and the resulting action on the surrounding rock mass are completed in very short tine, making it almost impossible to observe the processes occurring in the interior of the rock mass. In this study several input parameters are investigated by numerical modelling of blast source and dynamic response of rock mass. It is shown that damping coefficient and rising time are major parameters affecting dynamics response of rock mass.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.3
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• pp.167-174
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• 2010

The design, dynamics, and control allocation of tri-rotor unmanned aerial vehicles (UAVs) are introduced in this paper. A trirotor UAV has three rotor axes that are equidistant from its center of gravity. Two designs of tri-rotor UAV are introduced in this paper. The single tri-rotor UAV has a servo-motor that is installed on one of the three rotors, which enables rapid control of its motion and its various attitude changes-unlike a quad-rotor UAV that depends only on the angular velocities of four rotors for control. The other design is called 'coaxial tri-rotor UAV,' which has two rotors installed on each rotor axis. Since the tri-rotor type of UAV has the yawing problem induced from an unpaired rotor's reaction torque, it is necessary to derive accurate dynamic and design control logic for both single and coaxial tri-rotors. For that reason, a control strategy is proposed for each type of tri-rotor, and nonlinear simulations of the altitude, Euler angle, and angular velocity responses are conducted by using a classical proportional-integral-derivative controller. Simulation results show that the proposed control strategies are appropriate for the control of single and coaxial tri-rotor UAVs.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.10
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• pp.667-673
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• 2017

We investigated the temperature uniformity in an anode-supported solid oxide fuel cell, using the open source computational fluid dynamics (CFD) toolbox, OpenFOAM. Numerical simulation was performed in three different flow paths, i.e., co-flow, counter-flow, and cross-flow paths. Gas flow in a porous electrode was calculated using effective diffusivity while considering the effect of interconnect rib. A lumped internal resistance model derived from a semi-empirical correlation was implemented for the calculation of electrochemical reaction. The result showed that the counter-flow path displayed the most uniform temperature distribution.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.9-15
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• 2012

The ignition characteristics in a confined axisymmetric coflow $CH_4$ jet were investigated numerically with the Fire Dynamics Simulator(FDS). The $CH_4$ fuel stream was diluted with main combustion product gases, such as $O_2$, $N_2$, CO, $CO_2$, and $H_2O$, and the mixed fuel stream was heated up to the sufficient temperature where a supplying fuel stream can be ignited. For the calculation of chemical reaction in the simulation, a 2-step global finite chemistry model was considered. Boundary condition for confined wall was optimized by investigating the effects of wall temperature on the ignition characteristics of fuel stream. In addition, the effects of composition of diluents in the fuel stream and fuel stream temperature on the ignition of fuel steam were investigated. The ignition characteristics of $CH_4$ stream with diluents were very sensitive to the wall temperature, composition of diluents in the fuel stream and fuel stream temperature.

• Journal of Microbiology and Biotechnology
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• v.16 no.11
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• pp.1720-1727
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• 2006

To set up a kinetic model that can provide a theoretical basis for developing a new mathematical model of the Cr(VI) biosorption column using brown seaweed Ecklonia biomass, a differential reactor system was used in this study. Based on the fact that the removal process followed a redox reaction between Cr(VI) and the biomass, with no dispersion effect in the differential reactor, a new mathematical model was proposed to describe the removal of Cr(VI) from a liquid stream passing through the differential reactor. The reduction model of Cr(VI) by the differential reactor was zero order with respect to influent Cr(IlI) concentration, and first order with respect to both the biomass and influent Cr(VI) concentrations. The developed model described well the dynamics of Cr(VI) in the effluent. In conclusion, the developed model may be used for the design and performance prediction of the biosorption column process for Cr(VI) detoxification.