• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.292-304
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• 2005

In this paper we present the linearized equations of motion for a bicycle as a benchmark. The results obtained by pencil-and-paper and two programs are compared. The bicycle model we consider here consists of four rigid bodies, viz. a rear frame, a front frame being the front fork and handlebar assembly, a rear wheel and a front wheel, which are connected by revolute joints. The contact between the knife-edge wheels and the flat level surface is modelled by holonomic constraints in the normal direction and by non-holonomic constraints in the longitudinal and lateral direction. The rider is rigidly attached to the rear frame with hands free from the handlebar. This system has three degrees of freedom, the roll, the steer, and the forward speed. For the benchmark we consider the linearized equations for small perturbations of the upright steady forward motion. The entries of the matrices of these equations form the basis for comparison. Three diffrent kinds of methods to obtain the results are compared : pencil-and-paper, the numeric multibody dynamics program SPACAR, and the symbolic software system Auto Sim. Because the results of the three methods are the same within the machine round-off error, we assume that the results are correct and can be used as a bicycle dynamics benchmark.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.28-31
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• 1996

We propose an estimator design method of Stewart platform, which gives the 6DOF, positions and velcities of Stewart platform from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complexity of the equation with multiple solutions. Hence we suggest an nonlinear estimator for the forward kinematics solution using Luenberger observer with nonlinear error correction term. But the way of residual gain selection of the estimator is not clear, so we suggest an algebraic Riccati equation for gain matrix using Lyapunov method. This algorithm gives the sufficient condition of the stability of error dynamics and can be extended to general nonlinear system.

• Membrane Journal
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• v.30 no.1
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• pp.66-77
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• 2020

The current study focused on the effect of twisting hollow fibers (HFs) in a module during forward osmosis operation mode. Computational fluid dynamics simulation was employed for a straight HF module and twisted modules with five different angles to predict the mass transfer and observe the draw solution profile in terms of concentration and pressure. The simulation results showed that when the membranes were twisted, the concentration was distributed more evenly and the pressure at the module outlet increased gradually as the twisting angle increased. As pressure at the outlet increased, the fluid velocity inside the membrane decreased and the residence time of fluid increased, thereby facilitating mass exchange across the membrane. This is evidenced by a doubling of the ratio of water flux through the membrane in module flux when the HFs were twisted.

• Korean System Dynamics Review
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• v.15 no.4
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• pp.129-159
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• 2014

This Study discuss exploring normative-prescriptive factors after the themes on Organizational learning categorize two descriptive/explanatory-perspectives, prescriptive/normative dimension. The former would contain information processing model, theory of action, organizing in organization, while Senge's suggestion on Learning Organization may compose the latter. Each perspective is reconstructed and reinterpreted into the causal mapping relationship founded on system thinking and SD. Underlying on the former try to discovery validities of the latter. But this study only put forward the integral-dynamic model of organizational learning without empirical simulation.

• The Korean Journal of Financial Studies
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• v.6 no.1
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• pp.335-356
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• 2000

This paper examines the time series dynamics of spot and forward exchange rates and Eurocurrency deposit rates for four bilateral relationships vis a vis the U.S. dollar using daily data. The equilibrium implied by covered interest parity provides a theoretical foundation from which to estimate and analyze the dynamic properties of each system of exchange rates and interest rates. The structural statistical model is identified by relying on the implied cointegration vectors and long-run neutrality restrictions.

• Korean System Dynamics Review
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• v.10 no.1
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• pp.109-129
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• 2009

This paper explores the ways by which the authority concerned with nuclear energy policy-making in Korea can strengthen its organisational sustainability from long-term perspective. In doing so, it applies the system dynamics approach to predict what would happen to the organisational sustainability of the nuclear energy authority in the future. In the process of analysis, it also draws causal loop map of components contained in the simulation model and constructs user-interface simulation model. It shows different predicted future values regarding organisational sustainability of the nuclear energy authority in Korea and puts forward some policy implications for practitioners and academics involved in nuclear energy policy.

• Korean System Dynamics Review
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• v.10 no.1
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• pp.33-60
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• 2009

This study explores the limitation in making a causal model through an existing case and proposes an alternative plan to improve a theoretical system of causation modeling. To make a dynamic and actual model, several principles are needed such as reality based analysis of system structures and dynamics, consistent expression of causations, conversion of numerical formulas to causal relations, classification and arrangement of variables by size of concept, etc. However, it is hard to find cases to apply these considerations from existing models in System Dynamics. Therefore, this study verifies errors of derived models from literatures and proposes principles and guides that should be considered to make a sound dynamic model on a causal map. It contributes to making an opportunity for exciting public opinion to improve theory about causal maps, yet it has limitation that the study does not advance forward to the experimental step. For future study, it plans to make up by classifying and leveling causal variables, developing a dynamic BSC model.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.464-469
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• 2001

This work provides the biomechanical evaluations of a manual wheelchair with a bi-directional driving system. The new propulsion strategy can be accomplished by employing a special gear system that converts the oscillatory motion of a handrim into the unidirectional output motion of a wheel. A main feature of the forward. backward propulsion is to supply continuous driving torque without break. Motion. analysis has been performed through 2-dimensional image processing for measuring the kinematic properties of the upper arm and fore arm. Then, the inverse dynamics analysis has been done for obtaining the joint torques, the handrim forces and input/output powers. Results show that the output power by the forward. reverse propulsion is almost twice as much as that by conventional propulsion. Also, the new propulsion is expected to reduce the fatigues and injuries at arm joints by employing more muscle groups for movement. In conclusion, the forward. reverse propulsion can greatly improve the performances of manual wheelchairs by providing better mobility as well as by guaranteeing several advantages from a biomechanical viewpoint. Future development of a manual wheelchair optimized for the bi-directional propulsion will further improve the propulsion performances.

• Aerospace Engineering and Technology
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• v.1 no.2
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• pp.1-10
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• 2002

Flow computations around forward sweep wing small aircraft have been conducted in this study. The main-wing of the forward-wing small aircraft is composed of two planforms: the inboard wing section with backward sweep angle which is known as strake and the outboard wing section with forward sweep angle. The geometrical discontinuity or kink generated by the combination of these two different planforms requires detailed flow analysis around wing. Four different solvers were used to calculate aerodynamic data and the accuracy of each method is examined. For the convenience of grid generation over the aircraft geometry, the overset grid method was applied. Through this calculation, the basic aerodynamic data of the forward-wing aircraft were provided and the aerodynamic characteristics of the wing is expounded.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.483-487
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• 1996

We consider the estimation of the position and orientation of 6 DOF motion bed (Stewart platform) from the measured cylinder length. The solution of forward kinematics is not solved yet as a useful realtime application tool because of the complity of the equation with multiple solutiple solutions. Hence we suggest an algorithm for the estimation of forward kinematics solution using Luenberger observer withnonlinear error correction term. The Luenberger observer withlinear model shows that the estimation error does not go to zero in steadystate due to the linearization error of the dynamic model. Hence the linear observer is modified using nonlinear measurement error equation and we prove thd practical stability of the estimation error dynamics of the proposed observer using lyapunov function.