• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• 한국전산유체공학회:학술대회논문집
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• 2006.05a
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• pp.203-206
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• 2006

• Journal of Mechanical Science and Technology
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• v.15 no.4
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• pp.465-472
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• 2001

A numerical study is carried out to clarify the characteristics of flow fields and breaking phenomena around a high speed catamaran hull advancing on calm water. Computations are carried out for Froude numbers between 0.2 and 1.0 and for ratios of the distance between hulls to the catamaran length varying between 0.2 and 0.5 for a mathematically defined Wigley hull. A Navier-Stokes solver which includes the nonlinearities of free surface conditions is employed. Computations are performed in a rectangular grid system based on the Marker & Cell method. For validation, present computation results are compared with existing experimental results. As an application, the results of the displacement catamaran are used for the breaking analysis.

• Journal of Mechanical Science and Technology
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• v.14 no.9
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• pp.1005-1012
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• 2000

Numerical optimization techniques combined with a three-dimensional thin-layer Navier-Stokes solver are presented to find an optimum shape of a stator blade in an axial compressor through calculations of single stage rotor-stator flow. Governing differential equations are discretized using an explicit finite difference method and solved by a multi-stage Runge-Kutta scheme. Baldwin-Lomax model is chosen to describe turbulence. A spatially-varying time-step and an implicit residual smoothing are used to accelerate convergence. A steady mixing approach is used to pass information between stator and rotor blades. For numerical optimization, searching direction is found by the steepest decent and conjugate direction methods, and the golden section method is used to determine optimum moving distance along the searching direction. The object of present optimization is to maximize efficiency. An optimum stacking line is found to design a custom-tailored 3-dimensional blade for maximum efficiency with the other parameters fixed.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.4 no.1
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• pp.1-9
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• 2001

An oscillating body motion with extremely large amplitude has been studied using the viscous flow solver. Time simulations of oscillating ship hull in prescribed heave and roll motions are presented using RANS method with FAM approach (Chen, 1995). For viscous flows, laminar flow and turbulent flow with $textsc{k}$-$\varepsilon$ model are considered and compared. The viscous flow solver of RANS method is performed together with a Chimera type of multi-block grid system to demonstrate the advantage of accurate and efficient zonal approach. In the present study, effects of viscosity and oscillation degree are discussed using Re=1000 and Re=1000000. Large motion of oscillating body shows clear vortex propagation that is not possible for inviscid flow to present.

• Journal of Mechanical Science and Technology
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• v.18 no.12
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• pp.2190-2203
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• 2004

A combined procedure for two-dimensional Delaunay mesh generation algorithm and an adaptive remeshing technique with higher-order compressible flow solver is presented. A pseudo-code procedure is described for the adaptive remeshing technique. The flux-difference splitting scheme with a modified multidimensional dissipation for high-speed compressible flow analysis on unstructured meshes is proposed. The scheme eliminates nonphysical flow solutions such as the spurious bump of the carbuncle phenomenon observed from the bow shock of the flow over a blunt body and the oscillation in the odd-even grid perturbation in a straight duct for the Quirk's odd-even decoupling test. The proposed scheme is further extended to achieve higher-order spatial and temporal solution accuracy. The performance of the combined procedure is evaluated on unstructured triangular meshes by solving several steady-state and transient high-speed compressible flow problems.

• Proceeding of EDISON Challenge
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• 2012.04a
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• pp.13-16
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• 2012

본 논문에서는 항공기의 제어 안정성(Control Stability)과 조종성(Controllability), 그리고 기계 하중을 줄여 구조와 공기역학적인 안정성을 향상시키기 위해 고양력장치(High-lift Device)인 플랩에 탭이 추가된 익형을 설계하였다. 이 과정에서 한정된 해석자원 때문에 많은 설계조건을 해석하는데 어려움이 있었다. 이를 해결 하기위해 얇은 익형 해석(Thin Airfoil Theory)을 이용하여 지정된 설계구속조건을 통해 시위선을 지정하고 이를 바탕으로 두께를 부여하여 최종적인 익형을 설계하였다. EDISON CFD 2.0 Solver를 이용해 최종 설계한 익형의 성능을 해석하였다. 이를 바탕으로 플랩만 존재하는 익형에 비해 양력손실률이 15%이하로 감소하고, 힌지 모멘트가 최소인 공기역학적 익형을 산출하였다.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.64-74
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• 2017

본 연구에서는 동역학 격자기반 대정준 Monte Carlo (Kinetic Lattice Grand Canonical Monte Carlo, KLGCMC) 모의실험 방법과 Poisson-Nernst-Planck (PNP) 계산 방법을 이용하여 이온채널의 전하분포, 채널 반지름, 그리고 이온의 농도와 이온의 크기가 이온전류와 이온전도도에 미치는 영향과, 이온 간 상관관계 (correlation)가 이온전류와 이온전도도에 미치는 영향을 조사하였다. 이로부터 이온 간 상호작용에 의해 이온 이동에 제약이 가해지는 이온 간 상관관계 효과는 채널 내 이온 수가 증가할수록 커지는 것을 알 수 있었다. 또한, 평균장 이론에 기반한 PNP 이론은 이온 간 상관관계 효과를 적절하게 기술하지 못하며, 이온 간 상관관계 효과가 중요해지는 이온 채널 관련 결맞음 공명 (coherence resonance) 등 특이 현상을 연구하기 위해서는 이온 간 상관관계를 기술할 수 있는 KLGCMC 모의실험 방법이 필요함을 알 수 있었다.

• Proceeding of EDISON Challenge
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• 2015.03a
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• pp.83-90
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• 2015

본 연구에서는 Poisson-Nernst-Plank (PNP) 식의 해를 구할 수 있는 Edison web-based Poisson-Nernst-Plank (EPNP) Solver를 이용하여 나노포어의 이온선택성 및 박막의 유전율, 그리고 이온 농도가 이온 전류와 이온전도도에 미치는 영향에 대해 알아보았다. 계산 결과로부터 나노포어의 이온선택성에 의해 양이온이 이온전류에 미치는 영향이 매우 크며, top buffer와 bottom buffer의 농도가 증가할수록 이온 전도도 (ion conductance)가 비선형적으로 증가함을 알 수 있었다. top buffer와 bottom buffer 간에 농도 차가 있을 때는 농도 차와 나노포어의 이온선택성에 의해 형성되는 Nernst 전위의 영향으로 I-V 곡선이 비대칭적 형태임을 알 수 있었다. 또한, 나노포어의 상대 유전율을 증가시킬 때 I-V 곡선에서의 양이온 전류는 감소했지만 음이온의 전류는 증가하는 경향을 보였다. 이는 나노포어 내에 배열된 쌍극자에 의한 영향과 전하를 가진 입자가 유전경계 (dielectric boundary)에 접근하면서 형성되는 상전하에 의한 영향이 동시에 존재하기 때문임을 알 수 있었다.

• Nuclear Engineering and Technology
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• v.42 no.5
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• pp.520-545
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• 2010

This paper presents the neutronics modeling capabilities of the fast reactor simulation system SHARP, which ANL is developing as part of the U.S. DOE's NEAMS program. We discuss the three transport solvers (PN2ND, SN2ND, and MOCFE) implemented in the UNIC code along with the multigroup cross section generation code $MC^2$-3. We describe the solution methods and modeling capabilities, and discuss the improvement needs for each solver, focusing on massively parallel computation. We present the performance test results against various benchmark problems and ZPR-6 and ZPPR critical experiments. We also discuss weak and strong scalability results for the SN2ND solver on the ZPR-6 critical assembly benchmarks.