• 천문학회지
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• 제37권1호
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• pp.15-39
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• 2004

We analyse the results of mass models derived from the HI rotation! curves of spiral galaxies and find that the slope of the luminous mass-circular velocity relation is close to 4. The luminous mass-circular velocity relation with a slope of about 4 can be explained by an anti-correlation between the mass surface density of luminous matter and the mass ratio of the dark and luminous components. We also argue that the conspiracy between luminous and dark matter exists in a local sense (producing a flat or smooth rotation curve) and in a global sense (affecting the mass ratio of the dark and luminous matter), maintaining the luminous mass-circular velocity relation with a slope of about 4. We therefore propose that the physical basis of the Tully-Fisher relation lies in the luminous mass-circular velocity relation. While the slope of the luminous mass-circular velocity relation is fairly well defined regardless of the dark matter contribution, the zero-point of the relation is still to be determined. The determination of the slope of the Tully-Fisher relation needs one more step: the mean trend of the luminosity-luminous mass relation determines the overall shape (slope) of the Tully-Fisher relation. The key parameter needed to determine the zero-point of the luminous mass-circular velocity relation and the slope of the Tully-Fisher relation obviously is the luminous mass-to-light ratio.

• 한국정밀공학회지
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• 제17권9호
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• International Journal of Air-Conditioning and Refrigeration
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• 제13권4호
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• pp.206-216
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• 2005

Numerical analysis has been carried out to investigate laminar convective heat transfer at zero gravity in a tube for supercritical water near the thermodynamic critical point. Fluid flow and heat transfer are strongly coupled due to large variation of thermodynamic and transport properties such as density, specific heat, viscosity, and thermal conductivity near the critical point. Heat transfer characteristics in the developing region of the tube show transition behavior between liquid-like and gas-like phases with a peak in heat transfer coefficient distribution near the pseudo critical point. The peak of the heat transfer coefficient depends on pressure and wall heat flux rather than inlet temperature and Reynolds number. Results of the modeling provide convective heat transfer characteristics including velocity vectors, temperature, and the properties as well as the heat transfer coefficient. The effect of proximity on the critical point is considered and a heat transfer correlation is suggested for the peak of Nusselt number in the tube.

• 소음진동
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• 제10권5호
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• pp.880-885
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• 2000

In a verical type, vibratory gyroscope, the coupled motion between the reference and sensing vibrations causes the zero-point output which means non-zero sensing vibration without angular velocity. This structural coupling leaks to an inherent discrepancy between the natural frequencies of the reference and sensing oscillations, causing the degradation of the sensing performance and dynamic stability. In this paper, the dynamic characteristics associated the coupling phenomenon are theoretically analyzed. Effects of reference frequency and coupling factor on the rotational direction and amplitude of elliptic oscillation are studied. A technique to predict the existence of curve veering of crossing in frequency trajectories is introduced to apply the design of micro gyroscopes with decoupled structures.

• 한국해안해양공학회지
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• 제19권6호
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• pp.596-605
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• 2007

본 연구에서는 파랑이 존재하는 수역에서 수평방향으로 분사되는 비부력 원형 난류제트의 거동을 검토하기 위해 수리실험을 수행하였다. 난류제트의 유속은 PIV(particle image velocimetry)기법을 이용하여 측정하였으며, 측정된 순간유속장을 위상평균하여 평균유속장으로 계산하였다. 수리실험에서는 상대적으로 작은 파고의 규칙파가 사용되었으며, 파랑의 분산이 난류제트의 확산현상에 미치는 영향을 제트의 중심선유속과 횡단면유속의 변화를 통하여 관찰하였다. 또한 파랑의 위상변화에 따른 제트 거동을 파악하기 위하여 다른 세 위상순간에서 제트의 거동을 비교하였다. 제트의 중심선유속은 파고가 커짐에 따라 감소하였으며, 횡단면의 폭은 증가함을 알 수 있었다. 제트의 횡단면유속분포 특성인 자기상사성은 파고가 증가할수록 약해졌으나 축방향으로의 단면폭의 변화는 크지 않았다. 또한 파고에 대한 제트의 변화에 비해 파랑 위상에 대해서는 변화가 작음을 알 수 있었다.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2004년도 학술발표회
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• pp.957-960
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• 2004

From a water-environmental point of view, with a change of understanding and concern about vegetation, it changes that vegetation acts as stability of channel and bed, providing habitats and feed for fauna, and means improving those with appreciation of the beautiful but resistant factor to the flow So, it becomes important concern and study subjects that turbulent structure by vegetation, shear stress and transport as well as roughness and average velocity by vegetation. But from a hydraulic point of view, vegetation causes resistance to the flow and can increase the risk of flooding, Therefore, this thesis concern the flow characteristics in vegetated open channels. According to the experimental results, $z_0$ was on an average $0.4h_p$ in a vegetated open channel. So, the elevation corresponding to zero velocity in a vegetated channel was the middle of roughness element. The limit for logarithmically distributed profile over the roughness element was from $z_0$ to $0.80h_{over}$ for a vegetated channel. Among the existing theory, the method of Kouwen et al.(1969), Haber(1982), and El-Hakim and Salama(1992) except Stephan(2001) gave a very good value compared to the measured velocity profile.

• 한국연소학회:학술대회논문집
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• 한국연소학회 2015년도 제51회 KOSCO SYMPOSIUM 초록집
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• pp.109-112
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• 2015

This article describes a cellular instability and laminar burning velocity of simulated synthetic natural gas(SNG) including 3% hydrogen. In this study, experimental apparatus is employed using cylindrical bomb combustor, and investigation is carried out with high speed camera and Schlieren system. The cellular instability is caused by the buoyancy, hydrodynamic instability. Unstretched burning velocity can be determined by extrapolated stretch rate of zero point from measured results. These results were also compared with numerical calculation by Chemkin package with GRI 3.0, USC-II, WANG, C3 Fuel mechanism. As an experimental conditions, equivalence ratios was adjusted from 0.8 to 1.3. From results of this work, the one was found that the cellular instability has occurred by effect of thermal expansion rate and flame thickness. As the other results, unstretched laminar burning velocity was best coincided with GRI 3.0 mechanism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.948-953
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• 2004

For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.