• Earthquakes and Structures
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• 제16권2호
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• pp.221-234
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• 2019

Today, many important concrete face rockfill dams (CFRDs) have been built on the world, and some of these important structures are located on the strong seismic regions. In this reason, examination and monitoring of these water construction's seismic behaviour is very important for the safety and future of these dams. In this study, the nonlinear seismic behaviour of Ilısu CFR dam which was built in Turkey in 2017, is investigated for various reservoir water heights taking into account 1995 Kobe near-fault and far-fault ground motions. Three dimensional (3D) finite difference model of the dam is created using the FLAC3D software that is based on the finite difference method. The most suitable mesh range for the 3D model is chosen to achieve the realistic numerical results. Mohr-Coulomb nonlinear material model is used for the rockfill materials and foundation in the seismic analyses. Moreover, Drucker-Prager nonlinear material model is considered for the concrete slab to represent the nonlinearity of the concrete. The dam body, foundation and concrete slab constantly interact during the lifetime of the CFRDs. Therefore, the special interface elements are defined between the dam body-concrete slab and dam body-foundation due to represent the interaction condition in the 3D model. Free field boundary condition that was used rarely for the nonlinear seismic analyses, is considered for the lateral boundaries of the model. In addition, quiet artificial boundary condition that is special boundary condition for the rigid foundation in the earthquake analyses, is used for the bottom of the foundation. The hysteric damping coefficients are separately calculated for all of the materials. These special damping values is defined to the FLAC3D software using the special fish functions to capture the effects of the variation of the modulus and damping ratio with the dynamic shear-strain magnitude. Total 4 different reservoir water heights are taken into account in the seismic analyses. These water heights are empty reservoir, 50 m, 100 m and 130 m (full reservoir), respectively. In the nonlinear seismic analyses, near-fault and far-fault ground motions of 1995 Kobe earthquake are used. According to the numerical analyses, horizontal displacements, vertical displacements and principal stresses for 4 various reservoir water heights are evaluated in detail. Moreover, these results are compared for the near-fault and far-faults earthquakes. The nonlinear seismic analysis results indicate that as the reservoir height increases, the nonlinear seismic behaviour of the dam clearly changes. Each water height has different seismic effects on the earthquake behaviour of Ilısu CFR dam. In addition, it is obviously seen that near-fault earthquakes and far field earthquakes create different nonlinear seismic damages on the nonlinear earthquake behaviour of the dam.

• 한국컴퓨터그래픽스학회논문지
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• 제25권3호
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• pp.133-142
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• 2019

물리기반 캐릭터 애니메이션에서 궤적 최적화(trajectory optimization) 기법은 캐릭터 동작에 대한 시스템 동역학 모델(system dynamics model)에 기반하여 가까운 최적의 미래 상태를 예측하여 캐릭터의 동작을 자동적으로 생성하는데 널리 사용되어 왔다. 캐릭터와 환경 간의 접촉 현상을 강체 충돌로 다루는 경우 일반적으로 시스템 동역학 모델은 그 수식이 닫힌 형식(closed form)으로 유도되지 못하고 미분이 불가능하다. 따라서 최근까지 많은 연구자들이 접촉 완화(contact smoothing) 기법을 통해 시스템 동역학의 수치적 미분에 기반한 효율적인 궤적 최적화 기법을 발표해 왔다. 하지만 수치적 미분 정보는 분석적 미분과 달리 부정확하기 때문에 궤적 최적화의 안정성에 영향을 미칠 수 있다. 이 문제를 해결하기 위해 본 논문에서는 접촉 완화 모델에 대한 근사화를 통해 시스템 동역학을 분석적으로 미분하여 닫힌 형식의 도함수를 유도하고, 이를 기반으로 사용자의 온라인 입력에 따라 예제 데이터 없이 이족 캐릭터의 동작을 안정적으로 생성하는 예측 제어 기법(model predictive control (MPC))을 제안한다.

• 한국전산구조공학회논문집
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• 제35권1호
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• pp.1-8
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• 2022

본 연구에서는 토양-탄체 간 분리 및 재접촉을 고려한 IFL 기반 침투해석 기술을 개발하고 이를 기존 문헌의 실험결과와 비교하는 연구를 수행했다. 탄체를 강체로 가정한 후, 토양 내로 침투 시 발생하는 구형공동팽창 현상을 고려함으로써 탄체의 궤적을 예측할 수 있다. 토양에 대한 저항함수는 Mohr-Coulomb 항복 모델을 활용했으며, 입사각 혹은 AOA에 따른 J-hook 현상을 모사할 수 있다. 기존 문헌에서의 실험결과(총 6회)와의 비교 결과, 수치해석으로부터 예측한 탄체의 침투 깊이는 실험대비 약 13.4%의 평균오차를 나타냈다. 일반적으로 탄체의 침투 경로를 예측하기 위해 유한요소법이 널리 활용된다. 하지만, 유한요소법 활용 시, 탄체의 모델링을 위해 많은 시간과 노력이 필요하며, 해석 수행을 위해 수 시간이 소요된다. 본 연구를 통해 개발한 모델을 활용할 시, 탄체의 치수 입력만 필요하며 해석 시간도 수 초 이내이다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2006년도 학술대회 1부
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• pp.1120-1125
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• 2006

자연 현상에서 나타나는 물이나 바다와 같은 유체를 3 차원으로 시뮬레이션하는데 있어서 가장 중요한 요소는 실시간에 사실적으로 실행 가능하도록하는 것이다. 유체 모델은 특정 상황에 따른 다양한 방정식과 많은 파라미터값에 의해 제어되기 때문에 시뮬레이션하는데 많은 어려움이 따른다. 또한 복잡한 물리 수식을 기반으로 하기 때문에 유체 모델을 시뮬레이션하기 위해서는 많은 수행 시간이 소요된다. 본 논문에서는 실시간 유체와 강체(rigid body) 사이의 상호작용을 표현하기 위해 간략화된 유체 표면 모델(Fluid-Surface Model)을 제안하고, 개선된 계산과정을 통해 보다 빠르게 시뮬레이션하도록 한다. 또한 본 논문에서는 유체의 표면과 강체의 상호작용을 표현하는데 있어서 유체의 항력에 의해서 강체와 충돌시 발생하는 유체 표면의 움직임을 강체 모델의 제어를 통해 나타낸다. 본 논문에서 제안하는 자연스러운 유체 표면 모델은 유체역학적 방법을 사용하여 실시간에 사실적으로 표현된다. 그리고 이러한 유체 표면 모델을 PC 환경에서 사용자와 상호작용 가능하도록 재현하여, 게임이나 애니메이션에서의 유체 모델들에도 적용할 수 있다.

• 한국산학기술학회논문지
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• 제6권6호
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• pp.536-541
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• 2005

고무 성분에 대한 대변형 및 강성은 비선형 및 대변형의 해석 결과로 나타낼 수 있다. 또한 고무는 Mooney-Rivlin의 모델로서 적용되고 고무들 사이에서 자기 접촉이 성립되어지는데 강성체 및 고무 사이에서는 마찰력이 있게 된다. 본 연구에서 사용된 비선형 시뮬레이션 해석은 여러 가지의 고무 성분들의 설계, 분석 그리고 개발에 널리 사용될 수 있다. 이러한 방법을 이용하면 새로운 고무 제품을 개발하는데 있어서 시간과 비용을 절감할 수 있을 것으로 보인다. 고무 성분들의 분석은 특이한 재료의 모델링과 비선형 유한 요소 해석을 요하는데 금속 부품들에 대하여 해석하는 프로그램들과는 완전히 다르다. 본 연구의 목적은 대변형 및 비선형의 고무 부품을 해석하는데 있다.

• 한국항공운항학회지
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• 제18권4호
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• pp.30-37
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• 2010

This paper deals with attitude determination and parameter estimation problems for a lunar module. For this we first derive equations of motion for the lunar module by considering allocation locations (configurations) of reaction thruster and a reaction wheel assembly. The lunar module is assumed as a rigid body. In order to include the effect of fuel sloshing on the dynamics of the lunar module, we model it as a spherical pendulum for a simple analysis. For estimating angular rates and moment of inertia of the module, we employ an extended Kalman filter and the least mean square algorithms, respectively. Finally we construct a dynamical model for the lunar module by combining all these elements.

• International Journal of Aeronautical and Space Sciences
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• 제7권2호
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• Structural Engineering and Mechanics
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• 제17권3_4호
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• pp.357-378
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• 2004

Nonlinear dynamic analysis of a reinforced concrete (RC) frame under earthquake loading is performed in this paper on the basis of a hysteretic moment-curvature relation. Unlike previous analytical moment-curvature relations which take into account the flexural deformation only with the perfect-bond assumption, by introducing an equivalent flexural stiffness, the proposed relation considers the rigid-body-motion due to anchorage slip at the fixed end, which accounts for more than 50% of the total deformation. The advantage of the proposed relation, compared with both the layered section approach and the multi-component model, may be the ease of its application to a complex structure composed of many elements and on the reduction in calculation time and memory space. Describing the structural response more exactly becomes possible through the use of curved unloading and reloading branches inferred from the stress-strain relation of steel and consideration of the pinching effect caused by axial force. Finally, the applicability of the proposed model to the nonlinear dynamic analysis of RC structures is established through correlation studies between analytical and experimental results.

• Interaction and multiscale mechanics
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• 제3권4호
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• pp.365-372
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• 2010

Station is an important building in high-speed railway, and its vibration and noise may significantly affect the comfort of waiting passengers. A coupling vibration model for train-structure system is established to analyze and evaluate the vibration level of a typical waiting hall under dynamic train load. The motion of a four-axle vehicle with two suspension system is modeled in multi-body dynamics with linear springs and dampers employed. The station is modeled as a whole finite element structure which is 113 m in longitudinal and 163.5 m in lateral, and the stiffness of the station foundation is considered. According to the assumptions that both wheel and rail are rigid bodies and keep contact to each other in vertical direction, and the wheel/rail interaction and displacement coordination in horizontal direction is defined by the simplified Kalker creep theory, the vehicle spatial vibration model has 27 degrees-of-freedom. An overall analysis procedure is made of the train moving through the station, by which the dynamic responses of the train and the station are calculated. According to the comparison between analysis and test results, the actual connection status between different parts of the station is estimated and the vibration level of the waiting hall is evaluated.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.252-261
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• 2016

A spar-type floating substructure that is being widely used for offshore wind power generation is vulnerable to resonance in the heave direction because of its small water plane area. For this reason, the stable dynamic response of this floating structure should be ensured by accurately identifying the resonance characteristics. The purpose of this study is to analyze the characteristics of the combination resonance between the excitation frequency of a regular wave and natural frequencies of the floating substructure. First, the nonlinear equations of motion with two degrees of freedom are derived by assuming that the floating substructure is a rigid body, where the heaving motion and pitching motions are coupled. Moreover, to identify the characteristics of the combination resonance, the nonlinear term in the nonlinear equations is approximated up to the second order using the Taylor series expansion. Furthermore, the validity of the approximate model is confirmed through a comparison with the results of a numerical analysis which is made by applying the commercial software ANSYS AQWA to the full model. The result indicates that the combination resonance occurs at the frequencies of ${\omega}{\pm}{\omega}_5$ and $2{\omega}_{n5}$ between the excitation frequency (${\omega}$) of a regular wave and the natural frequency of the pitching motion (${\omega}_{n5}$) of the floating substructure.