• 드라이브 ㆍ 컨트롤
• /
• 제11권3호
• /
• pp.22-30
• /
• 2014

In this research, the energy stability level method is used for examining the stable state of Field Robot under effects of swing motion, at particular postures of manipulator, and terrain conditions. The energy stability level is calculated by using the dynamic models of Field Robot, subjected to the concept of equilibrium plane and support boundary. The results, simulated by using computing program for estimating the potential overturning of Field Robot, supply useful predictions of stability analysis for designers and operators.

• Journal of Mechanical Science and Technology
• /
• 제15권5호
• /
• pp.671-680
• /
• 2001

Boundary condition is one of the major factors to influence the numerical stability and solution accuracy in numerical analysis. One of the most important physical boundary conditions in the flowfield analysis is the wall boundary condition imposed on the body surface. To solve a two-dimensional Euler equation, totally four numerical wall boundary conditions should be prescribed. Two of them are supplied by the flow tangency condition. The other two conditions, therefore, should be prepared additionally in a suitable way. In this paper, four different sets of wall boundary conditions are proposed and then applied to solve high-speed flowfields around a quarter circle geometry. A two-dimensional compressible Euler solver is prepared based on the finite volume method. This solver hires three different upwind schemes; Steger-Warmings flux vector splitting, Roes flux difference splitting, and Lious advection upstream splitting method. It is found that the way to specify the additional numerical wall boundary conditions strongly affects the overall stability and accuracy of the upwind schemes in high-speed flow calculation. The optimal wall boundary conditions should be also chosen very carefully depending on the numerical schemes used to solve the problem.

• 한국산학기술학회논문지
• /
• 제20권6호
• /
• pp.396-401
• /
• 2019

가상환경 속 가상 강체는 가상 스프링과 가상 댐퍼의 병렬구조로 모델링되며 가상 강체의 현실감을 증강시키기 위해서는 가상 모델로부터의 반력을 안정적으로 최대한 크게 제시해야 한다. 따라서 햅틱 인터페이스의 안정성을 유지시킬 수 있는 가상 스프링과 가상 댐퍼의 영역을 분석하여 가상 강체모델을 선정하는 것이 중요하다. 기존에는 영차홀드를 이용하는 시스템에 대해 안정성 영역이 분석되었으나, 본 논문에서는 일차홀드 방식과 가상 댐퍼를 이용하는 햅틱 시스템에 대한 안정성 영역을 분석한다. 안정적인 가상 댐퍼 영역의 경계값은 샘플링 주기와 반비례 관계를 가지며, 안정적인 가상 스프링 영역의 최대값은 샘플링 주기의 제곱에 반비례 관계를 갖는다. 그리고 그 최대값은 일차홀드 방식을 이용하여 기존의 영차홀드의 경우보다 약 110% 향상시킬 수 있다. 가상 댐퍼의 크기가, 일차홀드 방식에서의 안정적인 가상댐퍼 경계값의 약 50% 보다 작다면, 일차홀드를 이용함으로써 기존의 영차홀드의 경우보다 안정적인 가상 스프링의 영역을 수 배 더 크게 할 수 있다.

• 한국항공우주학회지
• /
• 제34권1호
• /
• pp.1-7
• /
• 2006

포물형안정방정식을 이용한 2차원 벽면제트의 선형안정성해석을 수행하였다. 벽면제트유동은 노즐의 출구근방을 제외하고 경계층근사가 매우 잘 성립하며, 국소상사성의 도입으로 기본유동의 유동방향속도성분은 출구에서의 레이놀즈수에 무관하게 된다. PSE를 사용해 얻은 벽면제트의 안정성특성은 이전의 실험결과들과 좋은 일치를 보임을 알 수 있었다.

• 대한기계학회논문집A
• /
• 제28권2호
• /
• pp.143-148
• /
• 2004

This paper discussed on the stability of elastic material subjected to dry friction force for low boundary conditions: clamped free, clamped-simply supported, simply supported-simply supported, clamped-clamped. It is assumed in this paper that the dry frictional force between a tool stand and an elastic material can be modeled as a distributed follower force. The friction material is modeled for simplicity into a Winkler-type elastic foundation. The stability of beams on the elastic foundation subjected to distribute follower force is formulated by using finite element method to have a standard eigenvalue problem. It is found that the clamped-free beam loses its stability in the flutter type instability, the simply supported-simply supported beam loses its stability in the divergence type instability and the other two boundary conditions the beams lose their stability in the divergence-flutter type instability.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2000년도 추계학술대회논문집B
• /
• pp.585-590
• /
• 2000

The hydrodynamic instability of the three-dimensional boundary layer on a rotating disk introduces a periodic modulation of the mean flow in the form of stationary cross flow vortices. Detailed numerical values of the growth rates, neutral curves and other characteristics of the two instabilities have been calculated over a wide range of parameters. Presented are the neutral stability results concerning the two instability modes by solving new linear stability equations reformulated not only by considering whole convective terms but by correcting some errors in the previous stability equations. The present stability results are agree with the previously known ones within reasonable limit. The flow is found to be always stable for a disturbance whose dimensionless wave number at Re=1200 is greater than 0.75. Also, the spatial amplification contours have been calculated for the moving disturbance wave, whose azimuth angle is between ${\varepsilon}=15^{\circ}$ and $12.5^{\circ}$.

• 한국정밀공학회지
• /
• 제21권11호
• /
• pp.179-185
• /
• 2004

The effect of viscous damping on stability of beam resting on an elastic foundation subjected to a dry friction force is analytically studied. The beam resting on an elastic foundation subjected to dry friction force is modeled for simplicity into a beam resting on Kelvin-Voigt type foundation subjected to distributed follower load. In particular, the effects of four boundary conditions (clamped-free, clamped-pinned, pinned-pinned, clamped-clamped) on the system stability are considered. The critical value and instability type of columns on the elastic foundation subjected to a distributed follower load is investigated by means of finite element method for four boundary conditions. The elastic foundation modulus, viscous damping coefficient and boundary conditions affect greatly both the instability type and critical load. Also, the increase of damping coefficient raises the critical flutter load (stabilizing effect) but reduces the critical divergence load (destabilizing effect).

• Advances in aircraft and spacecraft science
• /
• 제11권1호
• /
• pp.55-81
• /
• 2024

This paper presents the exact solutions and closed forms for of nonlinear stability and vibration behaviors of straight and curved beams with nonlinear viscoelastic boundary conditions, for the first time. The mathematical formulations of the beam are expressed based on Euler-Bernoulli beam theory with the von Karman nonlinearity to include the mid-plane stretching. The classical boundary conditions are replaced by nonlinear viscoelastic boundary conditions on both sides, that are presented by three elements (i.e., linear spring, nonlinear spring, and nonlinear damper). The nonlinear integro-differential equation of buckling problem subjected to nonlinear nonhomogeneous boundary conditions is derived and exactly solved to compute nonlinear static response and critical buckling load. The vibration problem is converted to nonlinear eigenvalue problem and solved analytically to calculate the natural frequencies and to predict the corresponding mode shapes. Parametric studies are carried out to depict the effects of nonlinear boundary conditions and amplitude of initial curvature on nonlinear static response and vibration behaviors of curved beam. Numerical results show that the nonlinear boundary conditions have significant effects on the critical buckling load, nonlinear buckling response and natural frequencies of the curved beam. The proposed model can be exploited in analysis of macrosystem (airfoil, flappers and wings) and microsystem (MEMS, nanosensor and nanoactuators).

• 대한기계학회논문집
• /
• 제15권2호
• /
• pp.630-643
• /
• 1991

The hydrodynamic stability equations are formulated for buoyancy-induced flows adjacent to a vertical, planar, isothermal surface in cold pure water. The resulting stability equations, when reduced to ordinary differential equation by a similarity transformation, constitute a two-point boundary-value(eigenvalue) problem, which was numerically solved for various values of the density extremum parameter R=( $T_{m}$ - $T_.inf./) / ( $T_{o}$ - $T_.inf./). These stability equations have been solved using a computer code designed to accurately solve two-point boundary-value problems. The present numerical study includes neutral stability results for the region of the flows corresponding to 0.0.leq. R. leq.0.15, where the outside buoyancy force reversals arise. The results show that a small amount of outside buoyancy force reversal causes the critical Grashof number $G^*/ to increase significantly. A further increase of the outside buoyancy force reversal causes the critical Grashof number to decrease. But the dimensionless frequency parameter $B^*/ at $G^*/ is systematically decreased. When the stability results of the present work are compared to the experimental data, the numerical results agree in a qualitative way with the experimental data.erimental data.

• Nuclear Engineering and Technology
• /
• 제53권1호
• /
• pp.244-252
• /
• 2021

Wind plays an important role in cases of unexpected radioactive pollutant dispersion, deciding distribution and concentration of the leaked substance. The accurate prediction of wind has been challenging in numerical weather prediction models, especially near the surface because of the complex interaction between turbulent flow and topographic effect. In this study, we investigated the characteristics of atmospheric dispersion of radioactive material (i.e. ¹³⁷Cs) according to the simulated boundary layer around the HANARO research nuclear reactor in Korea using the Weather Research and Forecasting (WRF)-Mesoscale Model Interface (MMIF)-California Puff (CALPUFF) model system. We examined the impacts of orographic drag on wind field, stability calculation methods, and planetary boundary layer parameterizations on the dispersion of radioactive material under a radioactive leaking scenario. We found that inclusion of the orographic drag effect in the WRF model improved the wind prediction most significantly over the complex terrain area, leading the model system to estimate the radioactive concentration near the reactor more conservatively. We also emphasized the importance of the stability calculation method and employing the skillful boundary layer parameterization to ensure more accurate low atmospheric conditions, in order to simulate more feasible spatial distribution of the radioactive dispersion in leaking scenarios.