• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1150-1155
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• 1990

This paper proposes an optimal redundancy resolution of a kinematically redundant manipulator while considering homotopy classes. The necessary condition derived by minimizing an integral cost criterion results in a second-order differential equation. Also boundary conditions as well as the necessary condition are required to uniquely specify the solution. In the case of a cyclic task, we reformulate the periodic boundary value problem as a two point boundary value problem to find an initial joint velocity as many dimensions as the degrees of redundancy for given initial configuration. Initial conditions which provide desirable solutions are obtained by using the basis of the null projection operator. Finally, we show that the method can be used as a topological lifting method of nonhomotopic extremal solutions and also show the optimal solution with considering the manipulator dynamics.

• Journal of computational fluids engineering
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• v.10 no.2
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• pp.30-37
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• 2005

To evaluate LBM we performed the simulation of the unsteady two dimensional flow over a square cylinder in a channel in moderate Reynolds number range, $100\~500$ by using LBM and Fractional-Step method. Frist of all we compared LBM solution of Poiseuille flow applied Farout and periodic boundary conditions with the analytical solution to verify the applicability of the boundary conditions. For LBM simulation the calculation domain was formed by structured 500x100 grids. Prescribed maximum velocity and density inlet and Farout boundary conditions were imposed on the in-out boundaries. Bounceback boundary condition was applied to the channel and the cylinder waifs. The flow patterns and vortex shedding strouhal numbers were compared with previous research results. The flow patterns by LBM were in agreement with the flow pattern by fractional step method. Furthermore the strouhal number computed by LBM simulation result was more accurate than that of fractional step method through the comparison of the previous research results.

• Proceedings of the KSME Conference
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• 2000.04b
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• pp.853-858
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• 2000

The working fluid from the combustor to the turbine stage of a gas turbine makes various boundary layer thickness. Since the inlet boundary layer thickness is one of the important factors that affect the turbine efficiency. It is necessary to investigate secondary flow and loss with various boundary layer thickness conditions. In the present study, the effect of various inlet boundary layer thickness on secondary flow and loss and the proper height of the boundary layer fences for various boundary layer thickness were investigated. Measurements of secondary flow velocity and total pressure loss within and downstream of the passage were taken under 5 boundary layer thickness conditions, 16, 36, 52, 69, 110mm. It was found that total pressure loss and secondary flow areas were increased with increase of thickness but they were maintained almost at the same position. At the fellowing research about the boundary layer fences, 1/6, 1/3, 1/2 of each inlet boundary layer thickness and 12mm were used as the fence heights. As a result, it was observed that the proper height of the fences was generally constant since the passage vortex remained almost at the same position. Therefore once the geometry of a cascade is decided, the location of the Passage vortex and the proper fence height are appeared to be determined at the same time. When the inlet boundary layer thickness is relatively small, the loss caused by the proper fence becomes bigger than endwall loss so that it dominates secondary loss. In these cases the proper fence hight is decided not by the cascade geometry but by the inlet boundary layer thickness as previous investigations.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.6
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• pp.1445-1451
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• 1994

To calculate the wave pressure acting on coastal structures under the design wave condition, it is often necessary to numerically reproduce the big standing wave profiles close to wave breaking condition. For this, the governing equation and all nonlinear terms occurring in boundary conditions should be effectively considered in the numerical wave profile. In particular, the velocity square term in the free surface boundary condition is very important. A boundary element method is applied here to calculate the standing wave profile with the velocity square term fully treated by Newton iterative method. In order to check the validity of the method, the numerical wave profiles are compared to ones calculated by the perturbation method, the Fourier approximation method and the hydraulic experiment.

• International Journal of High-Rise Buildings
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• v.1 no.2
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• pp.107-116
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• 2012

The overarching objective of this study is to predict the convective heat transfer around a human body under forced strong airflow conditions assuming a strong wind blowing through high-rise buildings or an air shower system in an enclosed space. In this study, computational fluid dynamics (CFD) analyses of the flow field and temperature distributions around a human body were carried out to estimate the convective heat transfer coefficient for a whole human body assuming adult male geometry under forced convective airflow conditions between 15 m/s and 25 m/s. A total of 45 CFD analyses were analyzed with boundary conditions that included differences in the air velocity, wind direction and turbulence intensity. In the case of approach air velocity $U_{in}=25m/s$ and turbulent intensity TI = 10%, average convective heat transfer coefficient was estimated at approximately $100W/m^2/K$ for the whole body, and strong dependence on air velocity and turbulence intensity was confirmed. Finally, the formula for the mean convective heat transfer coefficient as a function of approaching average velocity and turbulence intensity was approximated by using the concept of equivalent steady wind speed ($U_{eq}$).

• Advances in concrete construction
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• v.9 no.1
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• pp.103-113
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• 2020

This paper deal with the critical fluid velocity response of nanocomposite pipe conveying fluid based on numerical method. The pressure of fluid is obtained based on perturbation method. The motion equations are derived based on classical shell theory, energy method and Hamilton's principle. The shell is reinforced by nanoparticles and the distribution of them are functionally graded (FG). The mixture rule is applied for obtaining the equivalent material properties of the structure. Differential quadrature method (DQM) is utilized for solution of the motion equations in order to obtain the critical fluid velocity. The effects of different parameters such asCNT nanoparticles volume percent, boundary conditions, thickness to radius ratios, length to radius ratios and internal fluid are presented on the critical fluid velocity response structure. The results show that with increasing the CNT nanoparticles, the critical fluid velocity is increased. In addition, FGX distribution of nanoparticles is the best choice for reinforcement.

• 한국전산유체공학회:학술대회논문집
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• 2000.10a
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• pp.129-134
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• 2000

An efficient numerical method to solve the unsteady incompressible Navier-Stokes equations is developed. A fully implicit time advancement is employed to avoid the CFL(Courant-Friedrichs-Lewy) restriction, where the Crank-Nicholson discretization is used for both the diffusion and convection terms. Based on a block LU decomposition, velocity-pressure decoupling is achieved in conjunction with the approximate factorization. Main emphasis is placed on the additional decoupling of the intermediate velocity components with only n th time step velocity The temporal second-order accuracy is Preserved with the approximate factorization without any modification of boundary conditions. Since the decoupled momentum equations are solved without iteration, the computational time is reduced significantly. The present decoupling method is validated by solving the turbulent minimal channel flow unit.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.34 no.3
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• pp.58-71
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• 2022

Analytical solutions for two-dimensional velocities of regular waves generated by bottom wave makers in a flume were derived in this study. Triangular and rectangular bottom wave makers were adopted. The velocity potential was derived based on the linear wave theory with the bottom moving boundary condition, kinematic and dynamic free surface boundary conditions. Then, analytical solutions of two-dimensional particle velocities were derived from the velocity potential. The velocity potential and two-dimensional particle velocities which were derived as complex integral equations were numerically calculated. The solutions showed physically valid results as velocities of regular waves generated by bottom wave makers in a flume.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.1
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• pp.1-7
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• 2005

The inlet boundary condition of computations about the supersonic turbine flow is commonly applied as far-field inlet boundary condition with specified velocity. However, the inflow condition of supersonic turbine is sometimes affected by the shocks or expansion waves propagated from leading edges of blade. These shocks and expansion waves alter the inlet boundary condition. In this case, the inlet boundary condition can not be specified Therefore, in this paper, numerical analyses for three different inlet conditions - fa-field inlet boundary condition, inlet boundary condition with a linear nozzle and inlet boundary condition with a converging-diverging nozzle - have been performed and compared with experimental results to solve the problem. It is found that the inlet condition with a linear nozzle or a converging-diverging nozzle can prevent changing of inlet boundary condition, and thus predict more accurately the supersonic flow within turbine cascade than a far-field inlet boundary condition does.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.