• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 한국소음진동공학회논문집
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• 제21권6호
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• pp.553-561
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• 2011

A theoretical approach is carried out to predict the quality factors of flexible modes of a microcantilever on a squeeze-film. The frequency response function of an inertially-excited microcantilever beam is derived using an Euler-Bernoulli beam theory. The external force due to squeeze-film phenomenon is developed from the Reynolds equation. Slip boundary conditions are employed at the interfaces between the fluid and the structure to consider the gas rarefaction effect, and pressure boundary condition at both ends of fluid analysis region is enhanced to increase the exactness of predicted quality factors. To the end, an approximate equation is derived for the first bending mode of the microcantilever. Using the approximate equation, the quality factors of the second and third bending modes are calculated and compared with experimental results of previously reported work. The comparison shows the feasibility of the current approach.

• 한국가시화정보학회지
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• 제2권2호
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• pp.38-44
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• 2004

Theoretical and numerical studies are given to the sink flows within a rotating circular tank driven by the fluid withdrawal from a bottom circular hole. It was found that, when the upper free surface was set with no-slip boundary conditions, the Ekman boundary-layer develops not only above the bottom surface but under the top surface. The sink fluid is coming from the two Ekman layers, and the mass transfer from the bulk, inviscid region is dependent on the rotational speed. It is also remarkable to see that all the fluid gathered along the axis flows in a form of rapidly rotating fluid column haying almost the same diameter as the bottom hole.

• 한국정밀공학회지
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• 제22권11호
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• pp.125-134
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• 2005

Recently, there have been reported on the results that the material life is reduced by fretting conditions and the initial crack made by low stress under fretting. The purpose of this paper is to show that the results of finite element analysis for the fretting contact problems of a flat rounded punch are nearly consistent with the theoretical solutions and to research that the results about effects of the contact zone according to geometries and mechanical properties of pad.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.526-529
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• 2008

Air Conditioner has become a popular comfort providing device since two decades, whether in an office or home especially for warm and wet climate countries. The RAC (Room Air Conditioner) is widely used in various working spaces and residences. It composed of heat exchager, cross-flow fan, stabilizer, rearguider and blade of diffuser region, etc. In this study, numerical analyses based on the prediction of transient phenomena were carried out to investigate the flow characteristics in the RAC, including the impeller, the rearguider, the stabilizer and the blade of the diffuser region. Using a commercial code, FLUENT, the velocity, pressure and streamlines were obtained with unsteady, turbulent flow and no-slip condition. The angular velocities of impeller are located in the 900 rpm. Turbulent closure was achieved using a standard k-${\varepsilon}$ model. A moving reference frame (MRF) approach was adopted to simulate the flow field generated by impeller in the RAC. Results were graphically depicted with various geometrical configurations and operating conditions.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.472-473
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• 2008

Flow boiling in parallel microchannels has received attention as an effective heat sink mechanism for power-densities encountered in microelectronic equipment. the bubble dynamics coupled with boiling heat transfer in microchannels is still not well understood due to the technological difficulties in obtaining detailed measurements of microscale two-phase flows. In this study, complete numerical simulation is performed to further clarify the dynamics of flow boiling in microchannels. The level set method for tracking the liquid-vapor interface is modified to include the effects of phase change and contact angle. The method is further extended to treat the no-slip and contact angle conditions on the immersed solid. Also, the reverse flow observed during flow boiling in parallel microchannels has been investigated. Based on the numerical results, the effects of channel shape and inlet area restriction on the bubble growth, reverse flow and heat transfer are quantified.

• Journal of Advanced Marine Engineering and Technology
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• 제22권6호
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• pp.935-941
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• 1998

Experiments were carried out for a cubic cavity flow. Contrinuous shear stress is supplied by driven flow for high Reynolds number and three kinds of aspect ratios. Velocity vectors are obtained by PIV and they are used as velocity components for Poisson equation for pressure, Related boundary conditions and no-slip condition at solid wall and the linear velocity extrapolation on the upper side of cavity are well examined for the present study. For calculation of pressure resolution of grid is basically $40{\times}40$ and 2-dimensional uniform mesh using MSC staggered grid is adopted. The flow field within the cavity maintains a forced-vortex formation and almost of the shear stress from the driving inflow is transformed into rotating flow energy and the size of the distorted forced-vortex increases with increment of Reynolds number

• 한국음향학회지
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• 제15권2호
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• pp.33-39
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• 1996

비선형 건마찰 감쇠를 가진 외팔보의 강제진동 응답을 건마찰 감쇠기와 가진력의 위치변화에 대하여 미끄러진 변위와 힘레벨을 수치해석하였다. 구성모드의 분석은 비선형 감쇠를 가진 계를 해석하기 위해 구속조건과 Lagrange 승수에 기초를 두고 분석하였다. 외팔보의 진동분석 결과 건마찰 감쇠기가 부착된 단순 지지된 보(beam)에서 보여진 응답특성과 유사한 특성이 나타났다.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2007년도 춘계 학술대회논문집
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• pp.79-82
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• 2007

The aerodynamic coefficients of Apollo capsule are calculated using a DSMC solver, SMILE, and the results agree very well with the data predicted by NASA. The aerodynamic characteristics of an orbital block which operates at high altitudes in the free molecule regime are also predicted. For the nominal flow conditions, the predicted aerodynamic force is very small since the dynamic pressure is extremely low. And the additional aerodynamic coefficients for the analysis of the attitude control are presented as the angle of attack and the side slip angle vary from $+45^{\circ}\;to\;-45^{\circ}$ of the nominal angle.

• 동력기계공학회지
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• 제6권2호
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• pp.73-81
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• 2002

In this study, electronically controlled automatic transmission adopted on a subcompact model in the market was modelled, and the driving performances of the transmission were simulated with the models. Kinetic and dynamic models of working components are established. The driving simulation program is developed with those models, and the various driving conditions are analyzed. With the results, the dynamic behaviour of the engine and the automatic transmission is easily understood. Especially, the transient performances of torque converter and clutches are deeply analyzed. Skipping the vehicle road test by using this analyzing tool, we can expect the cost down and the reduction of the development period of automatic transmission.