• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.828-834
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• 2019

Researchers have previously proven that the flapping motion of the hydrofoil can convert wave energy into propulsive energy. However, the estimation of thrust forces generated by the flapping foil placed in waves remains a challenging task for ocean engineers owing to the complex dynamics and uncertainties involved. In this study, the flapping foil system consists of a rigid NACA0015 section undergoing harmonic flapping motion and a passively actuated elastic flat plate attached to the leading edge of the rigid foil. We have experimentally measured the thrust force generated due to the flapping motion of a rigid foil attached to an elastic plate in a wave flume, and the effects of the elastic plates have been discussed in detail. Furthermore, an empirical formula was introduced to predict the thrust force of a flapping foil based on our experimental results using multiple regression analysis.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Tribology and Lubricants
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• v.39 no.5
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• pp.167-172
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• 2023

Titanium alloys are widely recognized among engineering materials owing to their impressive mechanical properties, including high strength-to-weight ratios, fracture toughness, resistance to fatigue, and corrosion resistance. Consequently, applications involving titanium alloys are more susceptible to damage from unforeseen events, such as scratches. Nevertheless, the impact of microscopic damage remains an area that requires further investigation. This study delves into the microscopic wear behavior of α-titanium crystal structures when subjected to linear scratch-induced damage conditions, utilizing molecular dynamics simulations as the primary methodology. The configuration of crystal lattice structures plays a crucial role in influencing material properties such as slip, which pertains to the movement of dislocations within the crystal structure. The molecular dynamics technique surpasses the constraints of observing microscopic phenomena over brief intervals, such as sub-nano- or pico-second intervals. First, we demonstrate the localized transformation of lattice structures at the end of initialization, indentation, and wear processes. In addition, we obtain the exerted force on a rigid sphere during scratching under linear movement. Furthermore, we investigate the effect of the relaxation period between indentation and scratch deformation. Finally, we conduct a comparison study of nanoindentation between crystal and amorphous Ti substrates. Thus, this study reveals the underlying physics of the microscopic transformation of the α-titanium crystal structure under wear-like accidental events.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.12
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• pp.1354-1359
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• 2004

This paper is concerned with the application of perturbation method to the dynamic analysis of floating flexible body. In dealing with the dynamics of free-floating body, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In the previous paper, we proposed the use of perturbation method to the coupled equations of motion and derived zero-order and first-order equations of motion. The derivation process was lengthy and tedious. Hence, in this paper, we propose a new approach to the same problem by applying the perturbation method to the Lagrange's equations, thus providing a systematic approach to the addressed problem. Theoretical derivations show the efficacy of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.391-395
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• 2010

In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

• Aerospace Engineering and Technology
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• v.4 no.2
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• pp.15-20
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• 2005

Most of studies for the ground load and ground behavior of landing gear have been conducted with an assumption that the structure of landing gear was rigid body. The assumption of rigid body during design process results in many errors or discrepancy. High ground load occurs in 3 directions on the shock absorbing strut during landing. This ground load initiated high structural deformation. In this study, the flex-multi-body dynamics is applied to adapt flexible bodies, so the results of analysis can be described close to landing gears real behaviour.

• Journal of computational fluids engineering
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• v.20 no.2
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• pp.103-108
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• 2015

Fluid-body interaction analysis of floating body with six degree-of-freedom motion is presented. In this study, three-dimensional incompressible Navier-Stokes equations are employed as a governing equation. The numerical method is based on a finite-volume approach on a cartesian grid together with a fractional-step method. To represent the body motion, the immersed boundary method for direct forcing is employed. In order to simulate the coupled six degree-of-freedom motion, Euler's equations based on rigid body dynamics are utilized. To represent the complex body shape, level-set based algorithm is utilized. In order to describe the free surface motion, the volume of fluid method utilizing the tangent of hyperbola for interface capturing scheme is employed. This study showed three different continuums(air, water and body) are simultaneously simulated by newly developed code. To demonstrate the applicability of the current approach, two different problems(dam-breaking with stationary obstacle and water entry) are simulated and all results are validated.

• Journal of the Korean Magnetic Resonance Society
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• v.20 no.4
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• pp.102-108
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• 2016

With the rapid increase of data on protein-protein interactions, the need for delineating the 3D structures of huge protein complexes has increased. The protocols for determining nuclear magnetic resonance (NMR) structure can be applied to modeling complex structures coupled with sparse experimental restraints. In this report, I suggest the use of multiple rigid bodies for improving the efficiency of NMR-assisted structure modeling of huge complexes using CYANA. By preparing a region of known structure as a new type of residue that has no torsion angle, one can facilitate the search of the conformational spaces. This method has a distinct advantage over the rigidification of a region with synthetic distance restraints, particularly for the calculation of huge molecules. I have demonstrated the idea with calculations of decaubiquitins that are linked via Lys6, Lys11, Lys27, Lys29, Lys33, Lys48, or Lys63, or head to tail. Here, the ubiquitin region consisting of residues 1-70 was treated as a rigid body with a new residue. The efficiency of the calculation was further demonstrated in Lys48-linked decaubiquitin with ambiguous distance restraints. The approach can be readily extended to either protein-protein complexes or large proteins consisting of several domains.

• 한국HCI학회:학술대회논문집
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• 2007.02c
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• pp.326-333
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• 2007

To simulate solid dynamics,a we must com-pute the mass, the center of mass, and the products of inertia about the axes of the body of interest. These mass property computations must be continuously re-peated for certain simulations with rigid bodies or as the shape of the body changes. We introduce a GPU-friendly algorithm to approximate the mass properties for an arbitrarily shaped body. Our algorithm converts the necessary volume integrals into surface integrals on a projected plane. It then maps the plane into a frame-buffer in order to perform the surface integrals rapidly on the GPU. To deal with non-convex shapes, we use a depth-peeling algorithm. Our approach is image-based; hence, it is not restricted by the mathematical or geometric representation of the body, which means that it can efficiently compute the mass properties of any object that can be rendered on the graphics hardware. We compare the speed and accuracy of our algorithm with an analytic algorithm, and demonstrate it in a hydrostatic buoyancy simulation for real-time applications, such as interactive games.