• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• 대한조선학회논문집
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• 제59권2호
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• pp.64-71
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• 2022

In this paper, we simulate the collision of a solitary wave on a vertical wall in a uniform water channel and investigate the effect of damping on the amplitude attenuation. In order to take into account the damping effect, we introduce the Stokes damping whose dissipation is dependent on the velocity of wave motion on the surface of a thin layer of oil. That is, we use the improved Boussinesq equation with Stokes damping to describe the damped wave motion. Our work mainly focuses on the amplitude attenuation of a propagating solitary wave, which may depend on the Stokes damping together with the initial position and initial amplitude of the wave. We utilize the method of images and a powerful numerical tool (functional iteration method) for solving the improved Boussinesq equation, yielding an effective numerical simulation. This enables us to find the amplitudes of the incident wave and reflected one, whose ratio is a measure of the (wave) amplitude attenuation. Accordingly, we have shown that the reflection of a solitary wave by a vertical wall is dependent on not only the initial amplitude and position of a solitary but the Stokes damping.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• 한국항공운항학회지
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• 제14권4호
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• pp.1-10
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• 2006

A computational study was carried out in order to investigate the ground effect of a circular cylinder in the presence of a moving wall at a Reynolds number of 2.0${\times}$104. The viscous-incompressible Navier-Stokes equations and Spalart-Allmaras turbulent model of the commercial CFD code were adopted for this numerical analysis. The moving wall was set parallel with the freestream, and the speed of motion was equal to the freestream velocity. The gap ratio is defined as the distance ratio between the circular cylinder diameter and the height from the moving wall. The numerical results show that there are the differences among the each of the stages in evidence of the vorticity contours and the polar diagrams of $C_l$ vs. $C_d$. The 4 stages of the gap ratio are defined according to the flow features, whose stages are divided into small, intermediate, large and convergence gap ratios, respectively.

• Wind and Structures
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• 제22권5호
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• pp.555-571
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• 2016

A hanging-type sand-retaining wall is a very common sand-blocking fence structure used to prevent sand movement. This type of wall is widely used along the Qinghai-Tibet and Gobi desert railways in Xinjiang, Western China. To analyze the characteristics of wind-sand flow fields under the effect of such a sand fence structure, a wind tunnel test and a field test were carried out. The wind tunnel test showed the zoning characteristics of the flow fields under the effect of the hanging-type sand-retaining wall, and the field test provided the sediment transport data for effective wind-proof interval and the sand resistance data in the front and behind the sand-retaining wall. The consistency of the wind-sand flow fields with the spatial distribution characteristic of wind-carried sand motion was verified by the correspondences of the acceleration zone in the flow field and the negative elevation points of the percentage variations of the sand collection rate. The spatial distribution characteristic of the field sand collection data further showed the spatial structural characteristic of the sandy air currents under the action of the hanging-type sand-retaining wall and the sand resistance characteristic of the sand-retaining wall. This systematic study on the wind-sand flow fields under the control of the hanging-type sand-retaining wall provides a theoretical basis for the rational layout of sand control engineering systems and the efficient utilization of a hanging-type sand-retaining wall.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.69-74
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• 2001

It is well known that an air bubble trapped in water emits light at its collapse robustly with a proper forcing amplitude of ultrasound. Instability mechanism which causes deviation from sphericity of bubble wall was investigated theoretically. The rapid change of the bubble wall velocity which is both dependent on the forcing amplitude, was found to be a major factor of instability of the interface. The Rayleigh-Taylor instability which occurs when rapid acceleration is directed from the lighter towards the heavier fluid is found to be not related to the instability of the sonoluminescing gas bubble. A good agreement between the calculation results and experimental data is found.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1991년도 가을 학술발표회 논문집
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• pp.49-56
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• 1991

Seismic analysis of liquid storage structures is carried out by utilizing 2-dimensional fluid elements of a general purpose structural analysis computer program(ADINA), The present analysis focuses on the effects of the wall flexibility and the sloshing of the free water surface. Due considerations are given to the facts that the fluid has no shear resistance and the free surface motion is subjected to the gravity effect. To validate the present method using 2-dimensional fluid elements, the results of several example cases are compared with those by the Housner's approach for rigid wall case, and with those by the Eulerian formulation for flexible wall case.

• 대한기계학회논문집B
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• 제28권8호
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• pp.996-1003
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• 2004

The bubble motion during nucleate boiling in a microchannel is investigated by numerically solving the equations governing conservation of mass, momentum and energy in the liquid and vapor phases. The liquid-vapor interface is tracked by a level set method which is modified to include the effects of phase change at the interface and contact angle at the wall. Also, the evaporative heat flux from the thin liquid film that forms underneath a growing bubble attached to the wall is incorporated in the analysis. Based on the numerical results, the effects of channel size, contact angle, wall superheat and waiting period on the bubble growth and heat transfer in a microchannel are quantified.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1084-1089
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• 2000

The basic equations are derived for the analysis of a stepped labyrinth gas seal which are generally used in high performance compressors, gas turbines, and steam turbines. The Bulk-flow is assumed for a single cavity control volume and the flow is assumed to be completely turbulent in circumferential direction. Moody's wall-friction-factor formula is used for the calculation of wall shear stresses in the single cavity control volume. For the reaction force developed by the seal, linearized zeroth-order and first-order perturbation equations are developed for small motion about a centered position. Integration of the resultant first-order pressure distribution along and around the seal defines the rotordynamic coefficients of the stepped labyrinth gas seal. The leakage and rotordynamic characteristic results of the stepped labyrinth gas seal are presented and compared with Scharrer's theoretical analysis using Blasius' wall-friction-factor formula.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 추계 학술발표회논문집
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• pp.180-187
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• 2003

The purpose of this study is to investigate the seismic behavior of reinforced concrete shear wall subjected to earthquake motions. A computer program, named RCAHEST(Reinforced Concrete Analysis in Higher Evaluation System Technology), was used for the analysis of reinforced concrete structures. A 4-node flat shell element with drilling rotational stiffness is used for spatial discretization. The layered approach is used to discretize behavior of concrete and reinforcement through the thickness. Material nonlinearity is taken into account by comprising tensile, compressive and shear models of cracked concrete and a model of reinforcing steel. The smeared crack approach is incorporated. Solution of the equations of motion is obtained by numerical integration using Hither-Hughes-Taylor(HHT) algorithm. The proposed numerical method for the seismic analysis of reinforced concrete shear wall is verified by comparison of analysis results with reliable experimental results.