• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Tribology and Lubricants
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• v.28 no.2
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• pp.70-80
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• 2012

Non-contact type mechanical face seals installed in mechanical systems prevent leakage of working fluid using thin working fluid film between stator and rotor. For that purpose, various kinds of surface profiles, grooves and conings have been applied on seal surfaces of stator and rotor to generate hydrodynamic and hydrostatic pressure. The thickness distribution of working fluid film is one of important factors which affect the working performances of mechanical face seal, and it is strongly affected by the surface height profiles of stator and rotor. Therefore, appropriate design of surface height profiles of stator and rotor is necessary to optimize the working performances and life of mechanical face seal. In this study, numerical analysis using finite volume method was conducted to estimate the working performances of wavy mechanical face seals which have 36 coning combinations. As results, minimum thickness of working fluid film, leakage volume of working fluid and friction torque in static equilibrium condition of mechanical face seal, and stiffness of working fluid film were obtained. The results show that the working performances of mechanical face seal were affected by the coning combinations which can change the thickness distribution of working fluid film and pressure distribution in sealing region of mechanical face seal.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.3050-3055
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• 2007

A wind turbine is one of the most popular energy conversion systems to generate electricity from the natural renewable energy source and an axial-flow type wind turbine is the most popular system for the electricity generation in the wind farm nowadays. In this study, a cross-flow type turbine has been studied for the application of wind turbine for electricity generation. The target capacity of electric power generation of the model wind turbine developing on the project is 12 volts, 130A/H (about 1.56kW). The important design parameters of the model turbine impeller are the inlet and exit angle of the turbine blade, number of blade, hub/tip ratio and the exit flow angle of the casing. In this study, the radial equilibrium theorem was used to decide the inlet and exit angle of the impller blade and CFD technique was used to have the performance analysis of the designed model power turbine to find out the optimum geometry of the CPT impeller and casing. The designed CPT with 24 impeller blades at ${\alpha}=82^{\circ}$, ${\beta}=40^{\circ}$ of turbine blade angle was estimated to generate 284.6 N.m of indicated torque and 2.14kW of indicated power.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Structural Engineering and Mechanics
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• v.32 no.4
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• pp.501-516
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• 2009

This paper aims to study the large deflections of variable-arc-length elastica subjected to the terminal forces (e.g., axial force and torque). Based on Kirchhoff's rod theory and with help of Euler parameters, the set of nonlinear governing differential equations which free from the effect of singularity are established together with boundary conditions. The system of nonlinear differential equations is solved by using the shooting method with high accuracy integrator, seventh-eighth order Runge-Kutta with adaptive step-size scheme. The error norm of end conditions is minimized within the prescribed tolerance ($10^{-5}$). The behavior of VAL elastica is studied by two processes. One is obtained by applying slackening first. After that keeping the slackening as a constant and then the twist angle is varied in subsequent order. The other process is performed by reversing the sequence of loading in the first process. The results are interpreted by observing the load-deflection diagram and the stability properties are predicted via fold rule. From the results, there are many interesting aspects such as snap-through phenomenon, secondary bifurcation point, loop formation, equilibrium configurations and effect of variable-arc-length to behavior of elastica.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.6
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• pp.487-497
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• 2011

Numerical analysis has been performed to investigate the rotor speed and pitch range variations when the airspeed is increased in autorotation. Transient Simulation Method(TSM) was used to obtain the steady states of autorotation. The rotor blade was analyzed by the two-dimensional compressible Navier-Stokes solver in order to adapt to the airspeed increase and the results were used in the transient simulation method. Meanwhile, the Pitt/Peters inflow theory was used to supply the induced velocity fields. For the prescribed torque equilibrium state, the combinations of velocity, shaft angle, and pitch angle were produced to investigate the rotor speeds and variable ranges. The rotor tip Mach number and rotor speed were correlated and the trim range of pitch angle was observed with respect to the shaft angle decrease.

• Structural Engineering and Mechanics
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• v.60 no.6
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• pp.1039-1061
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• 2016

Based on Vlasov's torsional theory of open thin-walled members and the nonlinear constitutive relations of materials, a nonlinear analysis model to predict response of open thin-walled RC members subjected to pure torsion is proposed in the current study. The variation of the circulatory torsional stiffness and warping torsional stiffness over the entire loading process and the impact of warping shear deformation on the torsion-induced rotation of the member are considered in the formulation. The torque equilibrium differential equation is then solved by Runge-Kutta method. The proposed nonlinear model is then applied to predict the behavior of five U-shaped thin-walled RC members under pure torsion. Four of them were tested in an earlier experimental study by the authors and the testing data of the fifth one were reported in an existing literature. Results show that the analytical predictions based on the proposed model agree well with the experimental data of all five specimens. This clearly shows the validity of the proposed nonlinear model analyzing behavior of U-shaped thin-walled RC members under pure torsion.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.343-354
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• 2020

Bi-stable mechanism is a system that has two different stable equilibrium positions within its range of motion. It has an ability to stay in two different positions without external power input and despite small disturbances. One of the most bi-stable applied mechanism is a morphing system, such as deployable structures, switch systems, and robot grippers. However, due to the complexity of mechanism and limitation of structure configuration, it is difficult to apply on a morphing system with rotating link mechanism. In this paper, an implementation method of rotational bi-stable mechanism using cylindrical permanent magnets is proposed. The magnetic field and the magnetic force were calculated from electromagnet model of the cylindrical permanent magnet. Based on the model, the force relation between two links containing the cylindrical permanent magnets was estimated. An array of cylindrical permanent magnets was selected for symmetric bi-stability, and an experiment on the link structure with the proposed bi-stable mechanism was performed to investigate the stability against a external torque.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.4
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• pp.300-309
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• 2017

A spacecraft obtains a reaction momentum required for an orbit correction and an attitude control by exhausting a combustion gas through a small thruster in space. If the exhaust plume collides with spacecraft surfaces, it is very important to predict the exhaust plume behavior of the thruster when designing a satellite, because a generated disturbance force/torque, a heat load and a surface contamination can yield a life shortening and a reduction of the spacecraft function. The purpose of the present study is to ensure the core technology required for the spacecraft design by analyzing numerically the exhaust gas behavior of the 10 N class bipropellant thruster for an attitude control of the spacecraft. To do this, calculation results of chemical equilibrium reaction between a MMH for fuel and a NTO for oxidizer, and continuum region of the nozzle inside are implemented as inlet conditions of the DSMC method for the exhaust plume analysis. From these results, it is possible to predict a nonequilibrium expansion such as a species separation and a backflow in the vicinity of the bipropellant thruster nozzle.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.2A
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• pp.281-288
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• 2008

The Prestressed Concrete (hereinafter PSC) box girder bridges with corrugated steel webs have been drawing an attention as a new structure type of PSC bridge fully utilizing the feature of concrete and steel. However, the previous study focused on the shear buckling of the corrugated steel web and development of connection between concrete flange and steel web. Therefore, it needs to perform a study on the torsional behavior and develop the rational torsional analysis model for PSC box girder with corrugated steel web. In this study, torsional analysis model is developed using Rausch's equation based on space truss model, equilibrium equation considering softening effect of reinforced concrete element and compatibility equation. Validation studies are performed on developed model through the comparison with the experimental results of loading test for PSC box girder with corrugated steel webs. Parametric studies are also performed to investigate the effect of prestressing force and concrete strength in torsional behavior of PSC box girder with corrugated steel web. The modified correction factor is also derived for the torsional coefficient of PSC box girder with corrugated steel web through the parametric study using the proposed anlaytical model.