• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1017-1022
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• 2015

Specific hydrodynamic characteristic of pump-turbine during the start and load rejection process of generating mode causes anomalous increase of water pressure, along with large machine vibration, called "S" characteristic. The aim of this study is to understand and explain the hydrodynamic performance of pump-turbine at "S" characteristic region by using a model of pump-turbine system. The operation in the condition of runway and low discharge in a typical "S" characteristic curve may become unstable and complex flow appears at the passage of guide vane and impeller. Therefore, velocity and pressure distribution are investigated to give an all-sided explanation of the formation and phenomenon of this characteristic, with the assistance of velocity triangle analysis at the impeller inlet. From this study, the internal flow and pressure fluctuation at the normal, runway and low discharge points are explored, giving a deep description of hydrodynamic characteristic when the pump-turbine system operates with "S" characteristic.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.648-653
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• 2015

The kinematics with the instantaneous motion and statics of a manipulator has generally been proven algebraically. The algebraic solutions give very simple and straightforward results but the solutions do not have any meaning in physics or geometry. Therefore it is not easy to extend the algebraic results to design or control a robotic manipulator efficiently. Recently, geometrical approach to define the instantaneous motion or static relation of a manipulator is popularly researched and the results have very strong advantages to have a physical insight in the solution. In this paper, the instantaneous motion and static relation of a planar manipulator are described by geometrical approach, specifically by an axis screw and a line screw. The mass center of a triangle with weight and a perpendicular distance between the two screws are useful geometric measures for geometric analysis. This study provides a geometric interpretation of the kinematics and statics of a planar manipulator, and the method can be applied to design or control procedure from the geometric information in the equations.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.6
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• pp.136-141
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• 2016

The purpose of this study is to examine the basic design of a submerged cryogenic pump, which is a two stage impeller pump. We limited this study to the impeller design of the submerged pump. We calculated its velocity triangle based on the impeller blade configuration and, in order to check its natural frequency, we carried out a modal test using a finite element method (FEM) analysis. Basically, modal test results had quite similar to FEM analysis.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.79-87
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• 2005

This paper summarizes the work on the development of a simulation program for modelling the process of machining quasi-three dimensional shape with the excimer laser beam on a constantly moving polymers. Relatively simple masks of rectangle, triangle and half circle shape are considered. The etching depth is calculated by considering the number of laser pulses irradiated on the specimen surface. It was found that similar shapes as experimental results can be obtained by choosing suitable parameters of moving velocity, moving distance and mask sizes.

• Journal of Aerospace System Engineering
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• v.3 no.4
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• pp.41-49
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• 2009

This paper present result of numerical simulation of premixed combustion around a triangle Bluff Body. And a numerical simulation of a premixed flame stabilization by a bluff body was performed using LES Model. The calculated results from the LES showed a good agreement with experiment data than k-model. Premixture combustion has flammability limit, quenching distance, smallest ignition energy has the combustion quality of the back. Bluff body makes a recirculation zone. Therefor velocity of behind bluff body is very slow. It was caused by slowly position speed and the fire occurred after the Bluff Body. Occurrence of fire it made the waste gas of high speed and the thrust made well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.7
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• Journal of the Korean Recycled Construction Resources Institute
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• v.8 no.4
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• pp.590-595
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• 2020

In this study, the small-scale collision experiments using a pendulum principle were carried out to evaluate the safety of the reinforced concrete building selected as a tsunami evacuation building due to the collision of the waterborne debris represented by ships. The experimental parameters were set as impact velocity, mass and length of the drifted ship. In this paper, the maximum impact force, impact duration, impact waveform and restitution coefficient affecting building response were investigated in detail. As a result, the impact force waveforms were distributed as a triangle in most of the experimental results, but became closer to a trapezoid as the length of the collision specimen increased. This is the very important result in calculating the momentum (impact waveform area) affecting building response, Furthermore, the restitution coefficients were constant regardless of the impact velocity, but they varied depending on the mass and length of the waterborne debris. However, the restitution coefficient for the mass per unit length of the waterborne debris can be evaluated.

• Magazine of the Korean Society of Agricultural Engineers
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• v.18 no.2
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• pp.4116-4120
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• 1976

With the use of many rivers increased nearly to the capacity, the need for information concerning daily quantities of water and the total annual or seasonal runoff has became increased. A systematic record of the flow of a river is commonly made in terms of the mean daily discharge Since. a single observation of stage is converted into discharge by means of rating curve, it is essential that the stage discharge relations shall be accurately established. All rating curves have the looping effect due chiefly to channel storage and variation in surface slope. Loop rating curves are most characteristic on streams with somewhat flatter gradients and more constricted channels. The great majority of gauge readings are taken by unskilled observers once a day without any indication of whether the stage is rising or falling. Therefore, normal rating curves shall show one discharge for one gauge height, regardless of falling or rising stage. The above reasons call for the correction of the discharge measurements taken on either side of flood waves to the theoretical steady-state condition. The correction of the discharge measurement is to consider channel storage and variation in surface slope. (1) Channel storage As the surface elevation of a river rises, water is temporarily stored in the river channel. There fore, the actual discharge at the control section can be attained by substracting the rate of change of storage from the measured discharge. (2) Variation in surface slope From the Manning equation, the steady state discharge Q in a channel of given roughness and cross-section, is given as {{{{Q PROPTO SQRT { 1} }}}} When the slope is not equal, the actual discharge will be {{{{ { Q}_{r CDOT f } PROPTO SQRT { 1 +- TRIANGLE I} CDOT TRIANGLE I }}}} may be expressed in the form of {{{{ TRIANGLE I= { dh/dt} over {c } }}}} and the celerity is approximately equal to 1.3 times the mean watrr velocity. Therefore, The steady-state discharge can be estimated from the following equation. {{{{Q= { { Q}_{r CDOT f } } over { SQRT { (1 +- { A CDOT dh/dt} over {1.3 { Q}_{r CDOT f }I } )} } }}}} If a sufficient number of observations are available, an alternative procedure can be applied. A rating curve may be drawn as a median line through the uncorrected values. The values of {{{{ { 1} over {cI } }}}} can be yielded from the measured quantities of Qr$.$f and dh/dt by use of Eq. (7) and (8). From the 1/cI v. stage relationship, new vlues of 1/cI are obtained and inserted in Eq. (7) and (8) to yield the steady-state discharge Q. The new values of Q are then plotted against stage as the corrected steadystate curve.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.283-288
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• 2014

The use of robots is no longer limited to the field of industrial robots and is now expanding into the fields of service and medical robots. In this light, a trajectory generation method that can respond instantaneously to the external environment is strongly required. Toward this end, this study proposes a method that enables a robot to change its trajectory in real-time using a convolution operation. The proposed method generates a trajectory in real time and satisfies the physical limits of the robot system such as acceleration and velocity limit. Moreover, a new way to improve the previous method (11), which generates inefficient trajectories in some cases owing to the characteristics of the trapezoidal shape of trajectories, is proposed by introducing a triangle shape. The validity and effectiveness of the proposed method is shown through a numerical simulation and a comparison with the previous convolution method.

• Transactions of the Korean hydrogen and new energy society
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• v.31 no.3
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• pp.314-321
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• 2020

In this work, a preliminary design of an inlet guide vane and runner for developing a 2.5 kW hydraulic turbine was conducted by using computational fluid dynamic analysis. Three-dimensional Reynolds-averaged Navier-Stokes equations with shear stress transport turbulence model were used to analyze the fluid flow in the hydraulic turbine. The hexahedral grid system was used to construct computational domain, and the grid dependency test was performed to obtain the optimal grid system. Velocity triangle diagram considering the flow angles of the inlet guide vane and runner was analyzed to obtain a basic geometry of the inlet guide vane and runner. Through modification of the preliminary design, the hydraulic performances of the turbine have improved under overall drop conditions. Especially, the efficiency and power of the turbine increased by 0.95% and 1.45%, respectively, compared to those of the reference model.