• Journal of Astronomy and Space Sciences
• /
• v.15 no.1
• /
• pp.209-220
• /
• 1998

The stability problem of steady motion of a rigid body with multi-elastic appendages and multi-liquid-filled cavities, in the presence of no external forces or torque, is considered in this paper. The flexible appendages are modeled as the clamped -free-free-free rectangular plates, or/and as the discrete mass- spring sub-system. The motion of liquid in every single ellipsoidal cavity is modeled as the uniform vortex motion with a finite number of degrees of freedom. Assuming that stationary holonomic constraints imposed on the body allow its rotation about a spatially fixed axis, the equation of motion for such a systematic configuration can be very complex. It consists of a set of ordinary differential equations for the motion of the rigid body, the uniform rotation of the contained liquids, the motion of discrete elastic parts, and a set of partial differential equations for the elastic appendages supplemented by appropriate initial and boundary conditions. In addition, for such a hybrid system, under suitable assumptions, their equations of motion have four types of first integrals, i.e., energy and area, Helmholtz' constancy of liquid - vortexes, and the constant of the Poisson equation of motion. Chetaev's effective method for constructing Liapunov functions in the form of a set of first integrals of the equations of the perturbed motion is employed to investigate the sufficient stability conditions of steady motions of the complete system in the sense of Liapunov, i.e., with respect to the variables determining the motion of the solid body and to some quantities which define integrally the motion of flexible appendages. These sufficient conditions take into account the vortexes of the contained liquids, the vibration of the flexible components, and coupling among the liquid-elasticity solid.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.1
• /
• pp.136-142
• /
• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• The korean journal of orthodontics
• /
• v.36 no.4
• /
• pp.295-307
• /
• 2006

Objective: The purpose of this study was to compare the histological and biomechanical characteristics of self-tapping and self-drilling microscrew implants. Methods: 112 microscrew implants (56 self-drilling and 56 self-tapping) were placed into the tibia of 28 rabbits. The implants were loaded immediately with no force, light (100 gm), or heavy force (200 gm) with nickel-titanium coil springs. The animals were sacrificed at 3- and 5-weeks after placement and histologic and histomorphometric analysis were performed under a microscope. Results: All microscrew implants stayed firm throughout the experiment. There was no significant difference between self-drilling and self-tapping microscrew implants both in peak insertion and removal torques. Histologic examinations showed there were more defects in the self-tapping than the self-drilling microscrew implants, and newly formed immature bone was increased at the interface in the self-tapping 5-week group. There was proliferation of bone towards the outer surface of the implant and/or toward the marrow space in the self-drilling group. Histologically, self-drilling microscrew implants provided more bone contact initially but the two methods became similar at 5 weeks. Conclusion: These results indicate the two methods can be used for microscrew implant placement, but when using self-tapping microscrew implants, it seems better to use light force in the early stages.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.10
• /
• pp.102-109
• /
• 2017

The high pressure pump of a diesel injection system compresses the fuel supplied at low pressure into high pressure fuel and maintains the fuel of the common rail at the required pressure level according to the engine operating conditions. The high pressure pump is required to operate normally in order to compress the fuel to a high pressure of 2000 bar during the entire lifetime of the vehicle. Consequently, a suitable design technique, material durability and high precision machining are required. In this study, the high pressure pump simulation model of a 1-plunger radial piston pump is modelled by using the AMESim code. The main simulation parameters are the displacement, flow rate and pressure characteristics of the inlet and outlet valves, cam torque characteristics, and operating characteristics of the fuel metering valve and overflow valve. In addition, the operating characteristics of the pump are simulated according to the parameter changes of the hole diameter and the spring initial force of the inlet valve. The simulation results show that the operation of the developed pump model is logically valid. This paper also proposes a simulation model that can be used for current pump design changes and new pump designs.

• Journal of Biosystems Engineering
• /
• v.2 no.1
• /
• pp.7-24
• /
• 1977

This paper is the forth and fifth one of the study on balanced type oscillating mole drainer. In the light of the results from previous reports about the model tests, some design criteria were established and a prototype machine was set up for experimental purpose. Motion characteristics and functionof the each parts of the machine were checked and analyzed. After that, performance tests of the prototype machine were carried out in thefield. Obtained results are summarized as follows ; 1. Ten centimeter of the bullet diameter was determined so as to be able to attach it to the tractors with capacity of 30 PS to 40 PS. 2. To maintain the balance between the moments of the front shank and rear shank, the oscillating amplitude of the rear bullet was determined to be larger than that of the front bullet. At the same time , the oscillating direction of the rear bullet was designed with the inclines of ten to thirty degrees. 3. An octagonal dynamo transduced was developed for measuring the compressive force of the upper link is measuring the draft force of the machine. Acceptable linear relationship between forces and strain responses from O.D.T. was obtained. 4. Analysing the balancing mechanism of the acting part of the machine , it was found that the total draft force of the machine was equal to the difference between the sum of the draft force produced from the right and left side bending moments of the lower drawber and the compressive force on the upper link. 5. There are acceptable linear relationship between the strain and twisting moment by driving shaft, and between strain and shank moment. Above results enable us to carry out the field experiment with prototype machine. 6. When the test machine was used in the field, it was possible to reduce the oscillating acceleration by forty percent in average as compared it with the single bullet mole drainer. 7. When the test machine was used under the oscillating condition, the dratt torce was reduced by 27 percent to 59 percent as compared it with the test machine under non-oscillating condition, while the draft force was increased by 7 percent to 20 percent as compared it with the mole drainer having oscillating single bullet. The reasoning behind this fact was considered as the resistance force due to the rear shank and bullet. 8. As the amplitude and frequency of the bullet were increased, the torque was increased accordingly. This tendency could be varied with the various characteristics of the given soils. And the larger frequency and amplitute, the more increasing oscil\ulcornerlating power but decreasing draft brce were needed, and draft force was increased as the velocity was increased.9. When the amplitude of the rear bullet was designed to be larger than that of the front bullet, the minimum value of the moment was lowered and oscillating acceleration was reduced. And when the oscillating direction of the rear bullet was declined back\ulcornerwards, oscillating acceleration was increased along with the increasing angle of decli\ulcornernation. When the test machine was operated in high speed, the difference between maximum moments and minimum ones became narrow. This varying magnitude of moments appeared on the moment oscillogram seems to be correlated to the oscillating acceleration and draft force. 10. From the analysis of variance, it was found that those factors such as frequency, amplitude, and operating velocity significantly affected in the oscillating acceleration, the draft resistance, the torque, the moment, and the total power required. And interaction between frequency and amplitude affected in the oscillating acceleration. 11. Within the given situation of this study, the most preferable operating conditions of the test machine were 7 Hz in oscillating frequency, 0.54 m/sec in operating velocity, and 39.1 mm in oscillating amplitude of front and rear bullets. However, it is necessary to select the proper frequency and magnitude of oscillation depending on the soil properties of the field in which the mole drainer is practiced by use of a bal1nced type oscillating mole drainer. 12. It is recommended that a comparative study of the mole drainers would be performed in the near future using two separate balanced oscillating bullet with the one which is operated by oscillating the movable bullet in a single cylinder or other balanced type which may be single oscillating bullet with spring, damper or balancing weight, and that of thing. To expand the applicability of the balanced type oscillating mole drainer in practical use, it is suggested to develop a new mechanism which perform mole drain with vinyl pipe or filling material such as rice hull.