• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.8
• /
• pp.1303-1308
• /
• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.893-898
• /
• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.17 no.4
• /
• pp.355-363
• /
• 2005

A novel method for simultaneously measuring the fluid velocity and the large particle velocity in a particle-containing fluid flow is developed in this study. In this method, the fluid velocity and the large particle velocity are measured by PIV and PTV, respectively. The PIV and PTV images are obtained from the same flow images. Since a PIV result represents the average displacement of all particles in an interrogation area, it will include an error caused by the relative displacement between the large particles and the fluid. In order to reduce the false influence of large particles on the PIV calculation, the mean brightness of small PIV particle images is substituted to the locations of large particles in the PIV images. The simulation results showed that the new method significantly reduces the PIV error caused by the large particles even at the case where the large particles occupy area fraction as large as $20\%$ of the full image.

• Structural Engineering and Mechanics
• /
• v.14 no.4
• /
• pp.491-504
• /
• 2002

A state-space method is proposed to analyze the aerodynamically coupled flutter problems of long-span bridges based on the modal coordinates of structure. The theory about complex modes is applied in this paper. The general governing equation of the system is converted into a complex standard characteristic equation in a state space format, which contains only two variables. The proposed method is a single-parameter searching method about reduced velocity, and it need not choose the participating modes beforehand and has no requirement for the form of structure damping matrix. The information about variations of system characteristics with reduced velocity and wind velocity can be provided. The method is able to find automatically the lowest critical flutter velocity and give relative amplitudes, phases and energy ratios of the participating modes in the flutter motion. Moreover, the flutter analysis of Jiangyin Yangtse suspension bridge with 1385 m main span is performed. The proposed method has proved reliable in its methodology and efficient in its use.

• Journal of the Institute of Convergence Signal Processing
• /
• v.8 no.2
• /
• pp.98-105
• /
• 2007

In this paper, we propose the method and system which determines the condition for safe and unsafe lane changing. To determine the condition, first, the system sets up the Region of Interest(ROI) on the neighboring lane. Second, a dangerous vehicle is extracted during the line changing. Third, the condition is determined to wm or not by calculating the moving direction, relative distance md relative velocity. To set up the ROI, the only one side lane is detected and the interested region is expanded. Using the coordinate transformation method, the accuracy of the ROI raised. To correctly extract the vehicle on the neighboring lane, the Adaptive Background Update method and Image Segmentation method which uses the feature of the travelling road are used. The object which is extracted by the dangerous vehicle is calculated the relative distance, the relative velocity and the moving average. And then in order to ring, the direction of the vehicle and the condition for safe and unsafe is determined. As minimizes the interested region and uses the feature of the travelling road, the computational quantity is reduced and the accuracy is raised and a stable result on a travelling road images which demands a high speed calculation is showed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.7
• /
• pp.562-569
• /
• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• Journal of the Korean Society of Safety
• /
• v.10 no.3
• /
• pp.68-80
• /
• 1995

A series of parametric calculations have been performed in order to investigate the short-term and short-range plume and puff behavior of toxic gaseous and solid pollutant dispersion in an open atmosphere. The simulation is made by the use of the computer program developed by this laboratory, in which a control-volume based finite-difference method is used together with the SIMPLEC algorithm for the resolution of the pressure-velocity coupling appeared In Wavier-Stokes equation. The Reynolds stresses are solved by the standard two-equation k-$\varepsilon$ model modified for buoyancy together with the RNG(Renormalization Group) k-$\varepsilon$ model. The major parameters considered in this calculation are pollutant gas density and temperature, the relative velocity of pollutants to that of the surrounding atmospheric air, and particulate size and density together with the height released. The flow field is typically characterized by the formation of a strong recirculation region for the case of the low density gases such as $CH_4$ and air due to the strong buoyancy, while the flow is simply declining pattern toward the downstream ground for the case of heavy molecule like the $CH_2C1_2$and $CCl_4$, even for the high temperature, $200^{\circ}C$. The effect of gas temperature and velocity on the flow field together with the particle trajectory are presented and discussed in detail. In general, the results are physically acceptable and consistent.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.6
• /
• pp.142-148
• /
• 1997

In this paper, forging of internal triangular and involute serrations are analyzed by upper bound method. Kinematically admissible velocity fields for half pitch of the serration were proposed. It was assumed that the shape flow surface during forging is a straight line perpendicular to plane of symmetry. Using the suggested velocity fields, forging loads and relative pressures were calculated by numerical method. Experiments were carride out with commercial AI 2024 aluminium alloy. As a result, the calculated solutions are good agreement with experimental results, so it is useful to predict the loads for forging of internal serrations.

• Geophysics and Geophysical Exploration
• /
• v.21 no.1
• /
• pp.26-32
• /
• 2018

The Northeast China is an important site geologically and geophysically because of a huge volcano called Mt. Baekdu, which is one of the largest volcanoes in the world. Signs of eruption have been recently observed and people are keen to its behavior. We carried out relative travel time tomography to investigate the velocity structure between 100 ~ 600 km depth beneath Northeast China. We used teleseismic data during 2009 ~ 2011 recorded in NecessArray provided by IRIS (Incorporated Research Institute for Seismology). The relative observations were obtained by using the multi-channel cross-correlation method. Based on the tomographic results, we observed that the locations beneath which low-velocity zones are observed coincide with the locations of several volcanic regions in Northeast China. A low-velocity anomaly is revealed beneath Mt. Baekdu down to 600 km depth, which is thought to the main origin of the magma supply for Mt. Baekdu. Another low velocity anomaly is observed beneath east of the Datong volcano down to around 300 km depth, which is inferred to be related to an upwelling from deep mantle. We observed a low velocity anomaly beneath the Wudalianchi volcano down to around 200 km depth, which may imply that this volcano has been formed by an upwelling from the asthenosphere.

• Journal of the Korean Society of Safety
• /
• v.7 no.4
• /
• pp.85-94
• /
• 1992

This paper, discribes analysis of theree - dimensional extrusion with the use of dual stream functions, By this method admissible velocity fields for the extrusion of three- dimensional flow was newly derived kinematically. For square section the extrusion pressure was calculated by numerical solution program which was based on the upper bound analysis. The relationship between relative extrusion pressure and reduction of area, relative die length and constant friction factors were successfully calculated which was newly developed in this study. The results could be applied to design extrusion die.