• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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• pp.2304-2314
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• 1993

Natural convective flow and heat transfer in a two-dimensional square enclosure fitted with a horizontal partition are investigated numerically. The enclosure was composed of the lower hot and the upper cold horizontal walls and the adiabatic vertical walls, and a partition was situated perpendicularly at the one vertical insulated wall. The governing equations are solved by using the finite element method with Galerkin method. The computations were carried out with the variations of length, position and thermal conductivity of the partition, and Rayleigh number based on the temperature difference between two horizontal walls and the enclosure height with water(Pr=4.95). As the results, an oscillatory motion of natural convection is resulted in a sudden rise of overall heat transfer, but the increase of length of partition is significantly restrained the increase of Nusselt number. The maximum heat transfer was shown just before the transition of the direction of oscillating flow. An oscillatory motion of flow was perfectly shown the stability with the decrease of the length of partition and Rayleigh number. Also, the heat transfer was raised with the increase of the thermal conductivity in proportion to the increase of the length of partition. The stability and oscillation of flow are affected by the position of partition.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.659-667
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• 2011

The study of bipedal robot is towards similar shape and function with human. In this paper, we propose a human-like walking pattern compatible to the flexible foot with toe and heel structure. The new walking pattern for a bipedal robot consists of ZMP, center of mass (CoM), and ankle trajectory and is drawn by considering human kinesiology. First, the ZMP trajectory moves forward without stopping at a point even in the single support phase. The corresponding CoM trajectory to the ZMP one is derived by solving differential equations. As well, a CoM trajectory for the vertical axis is added by following the idea of human motion. The ankle trajectory closely mimics the rotational motion of human ankles during taking off and landing on the ground. The advantages of the proposed walking pattern are demonstrated by showing improved stability, decreased ankle torque, and the longer step length capability. Specifically, it is interesting to know that the vertical CoM motion is able to compensate for the initial transient response.

• International Journal of Naval Architecture and Ocean Engineering
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• v.3 no.1
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• pp.95-104
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• 2011

As sea state harsher in the ocean space, more large motion and wave loads occurs on ships hull by non-linear phenomena. To consider nonlinear effect on ships hull in the structural design verification, the direct calculation method with numerical approach is used rather than rule values for the reliable accuracy. In this paper, the non-linear wave loads analysis in time domain is performed by using a Rankine Panel Method together with numerical schemes. Linear calculations have been carried out based on DNV CSA-2 notation to generate the motion responses and wave loads of large ships. By short and long term analysis, the design wave amplitudes are selected for the nonlinear analysis. The maximum wave induced bending moment in hogging and sagging conditions are calculated in the nonlinear analysis. Also, the green water effect on the wave induced vertical bending moment was investigated. The results show the vertical bending moments are more influenced by green water in sagging condition than in hogging condition due to green water loading.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.51-62
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• 2003

This study was attempted to kinematical characteristics of the El-grip swing with 1turn to el-grip in elite horizontal bar for the purpose of improving performance. The subjects were three males who were 2002 Busan Asian Games in men's team. The three dimensional motion analysis with DLT method was executed using three video cameras of analyzing the actual competition situation. In point of analyzing the actual competition situation, it is expected that gymnastics and coaches have the effective informations, and the following conclusion had resulted. 1. In case of release, It is impotant to make fast horizontal velocity of CM, high vertical position of CM, large hip and shoulder angle. Also It should be performed release motion of trunk rotation angle(+). 2. During LHR the action should be made at higher position than the CM and the shoulder joint is moving within $127{\pm}16.82$. It is important to make large lunk rotation angle. 3. During Hop, the RHR motion should be done in high position with short time and fast twisting action and to reduce the vertical speed is important.

• Bulletin of the Society of Naval Architects of Korea
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• v.22 no.3
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• pp.1-8
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• 1985

In this paper, the motion response and wave load of a container ship are treated by a nonlinear motion theory, which is similar to that used by Yamamoto et. al.[1]. This paper deals with the vertical motion response in oblique waves and the effect of the Smith correction in buoyancy force calculation. In the present computation, for S-175 container ship model our result also shows that the ratio of the motion peak to peak value to the wave height decreases as the wave height increases, which was obtained earlier by Yamamoto et.al.[3]. On the other hand the nondimensional midship bending moment increases as the wave height increases. These nonlinear effects are dominant near the resonance frequency, and depend on the hull form and forward speed. However, it is found that these nonlinear effects are significant for tanker model.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.6
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.

• Journal of Korea Multimedia Society
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• v.24 no.8
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• pp.1035-1043
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• 2021

The shoulder is less stable than other joints, making it easier to onset of various shoulder disorders. In addition, limited range of motion and pain in the shoulder due to shoulder disorders restricts daily life and social activities. The problem with exercise therapy can be reduced in exercise effect by causing boredom through simple repetition of motion, thus reducing the patient's willingness to participate. Therefore, this paper aims to provide a treatment method that can induce active participation of patients by developing devices capable of passive, active, and resistance exercise and serious game contents using them. Furthermore, sEMG was used to verify whether the rotational exercise in the horizontal and vertical using serious game contents helps the shoulder movement actually. The measured sEMG signal was classified as 5 phases according to the angle of rotation and calculated the mean integrated EMG. The mean integrated EMG for the experimental results was higher in all phases when rotational was performed compared to those when both horizontal and vertical rotational exercise remained initial posture, indicating an increase in muscle activity.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.9
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• pp.889-895
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• 2012

A vertical launching system(VLS) is a system for holding and firing missiles on surface ships. When a missile is launched in VLS, relative motion between canister and missile and drag force induced by wind can cause initial unstability of a missile. Thus dynamic analysis of initial behavior of vertically launched missile should be performed to prevent collision with any structure of a ship. In this study, dynamic analyses of initial behavior of vertically launched missile are performed using Monte-Carlo simulation, which relys on random sampling and probabilistic distribution of variables. Each parameter related with dynamic behavior of a missile is modeled with probability variables and Recurdyn, a commercial software for multi body dynamic analysis, is used to perform Monte-Carlo simulation. As a result, initial behavior of a missile is evaluated with respect to various performance indexes in a probabilistic sense and sensitivity of the each parameters is calculated.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.105-113
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• 2000

Air springs are now widely used in bus or truck suspensions due to their advantages over conventional metal spring as coil or leaf springs. Air springs have soft spring rates, which give better ride quality, and additional leveling system provides constant ride height and maintains almost same vertical natural frequencies. A mathematical model of an air spring suspension system with height control system is constructed and dynamic responses of the suspension system are investigated in the light of leveling valve motion characteristic, vertical motion natural frequency. Also, using a full vehicle model, handling characteristics of an air spring suspension is studied and the results are compared with real test results, which shows good agreements.