• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.5
• /
• pp.627-635
• /
• 2019

A programmable drone is a drone developed not only to experience the basic principles of flight but also to control drones through Arduino-based programming. Due to the nature of the training drones, the main users are students who are inexperienced in controlling the drones, which often cause frequent collisions with external objects, resulting in high damage to the drones' frame. In this study, the structural stability of the drone was evaluated by means of a structural dynamics based collision simulation for educational drone frame. Collision simulations were performed on three cases according to the impact angle of $0^{\circ}$, $+15^{\circ}$ and $-15^{\circ}$, using an analytical model with approximately 240,000 tetrahedron elements. Using ANSYS LS-DYNA, which provides excellent functions for the simulation of the dynamic behavior of three-dimensional structures, the stress distribution and strain generated on the drone upper, the drone lower, and the ring assembly were analyzed when the drones collided against the wall at a rate of 4 m/s. Safety factors resulting from the equivalent stress and the yield strain were calculated in the range of 0.72 to 2.64 and 1.72 to 26.67, respectively. To ensure structural stability for areas where stress exceeds yield strain and ultimate strain according to material properties, the design reinforcement is presented.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.12
• /
• pp.1683-1688
• /
• 2012

Topology optimization is applied for the lightweight design of three main parts of a vertical articulated robot: a base frame, a lower and a upper frame. Design domains for optimization are set as large solid regions that completely embrace the original parts, which are discretized by using three-dimensional solid elements. Design variables are parameterized one-to-one to the material properties of each element by using the SIMP method. The objective of optimization is set as the multi-objective form combining the natural frequencies and mean compliances of a structure for which load steps of interest are selected from the multibody dynamics analysis of a robot. The obtained results of topology optimization are post-processed to designs favorable to manufacturability for casting process. The final optimized results are 11.0% (base frame), 12.0% (lower frame) and 10.0% (upper frame) lighter with similar or even higher static and dynamic stiffnesses than the original models.

• Membrane Journal
• /
• v.29 no.1
• /
• pp.37-43
• /
• 2019

In this study, we investigated how the force-field, which is the most important factor to define atomic motion in molecular dynamics (MD), affects the motion of the polymer and gas molecules. The repeat units and the polymer structure were well simulated in all five force-fields, and the distribution of the polymer linear chain in the final polymer 3D model did not show any significant difference. However, the movement of actual gas molecules showed a very different tendency, which was also observed in COMPASS and pcff using the same functional form. Therefore, even if the same structure is used, it can be seen that the motion of the gas molecule moves under the influence of the force-field continuously over time, so that the effect is much larger than that of macromolecules such as a polymer linear chain. Accordingly, in case of using different force-fields, it is necessary to be very careful in comparison of those results.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3873-3879
• /
• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.36 no.6
• /
• pp.955-967
• /
• 2016

As transportation systems for connecting lands and islands, oversea long-span bridges, underwater tunnels, and immersed tunnels have been mainly used so far. Submerged floating tunnels (SFTs) moored under specific water depth are one of the newest oversea transportation system. Compared to other existing systems, the new system requires relatively less construction cost and time. But, there is still no construction example. For reasonable design of the tunnel and mooring lines the rational structural analysis should be firstly performed. Unlike common transportation structures, the submerged tunnels are mainly affected by the wave, vary irregular excitation component. So, the analysis scheme might be difficult because of the characteristics of the submerged structures. This study aims to suggest the rational global performance analysis methodology for the submerged tunnels. Using ABAQUS the dynamic response of the experimental models studied by KIOST (2013) was investigated considering regular waves. By comparing the simulation results with the experimental results, the feasibility of the numerical simulation was verified. Using the suggested method, the effects of initial inclination of the tethers and draft of the tunnel on the dynamic behavior were studied. In addition, dynamic response of a SFT under the irregular wave was examined.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.86-86
• /
• 2017

마늘파종기는 파종기구동부와 파종후 파종홀의 복토역할을 하는 파종기롤러, 지면과의 마찰을 통해 바퀴의 회전토크가 발생하며 발생된 토크는 파종기 내부 동력으로 전달되어 전체 파종시스템(배종, 호퍼캠, 파종부)을 동작 시키는 기능을 수행하는 파종바퀴, 마늘종구를 한알씩 집어올려 중간이송컵으로 이송하는 자세교정컵이 포함된 배종부와 자세교정컵에서 낙하된 마늘종구를 땅속으로 파종하는 파종장치로 구성된다. 배종율 95%, 2립 배종률 5% 성능을 확보할 수 있는 기술이 개발될 경우 세계적으로도 독보적인 기술 우위를 확보할 수 있다. 이와 같은 기본적인 기능을 구현할 수 있는 컨셉모델에 대한 설계를 수행하여 시제품개발 전 기구해석과 구조해석 등을 위한 기본설계를 수행하였다. 배종율 95% 이상을 확보하기 위해서는 기존의 현장경험의 의한 설계 방식으로는 한계가 있기 때문에 시뮬레이션 및 분석 개발이 필요한데, 프레임은 고정밀 마늘종구 배종부 장착을 위한 기본 구조물로써 작동시 동력을 얻기 위한 바퀴와 연계가 되도록 설계되었으며, 호퍼는 배종 수행을 위해 마늘을 저장해 두는 통으로써 배종부와 연결된다. 배종부의 배종판이 회전함에 따라서 배종판의 홈이 호퍼 내로 들어갔다 나오면서 마늘을 집게되며, 동력 전달부는 배종판을 회전시켜주고, 회전 속도 조절을 가능하게 한다. 파종부는 배종부에서 중간컵을 통해 하나씩 공급해준 마늘을 땅에 심는 부분으로서. 프레임의 바퀴 회전과 연동되어 회전하고 설계하였다. 배종판에서 중간컵으로 이송된 마늘을 파종부의 파종컵에 받아 회전하면서 땅속에 파종컵이 묻히면 파종컵이 열리면서 땅속에 마늘을 심는 원리이다. 조간조정은 7조식의 경우 초기설치시 고정되도록 설계되었으며 농촌진흥청 기계화 표준재배안에 따라 의성마늘 기준 $14{\times}14cm$(조간${\times}$주간)를 기준으로 개발하였다. 조간조정은 기계가 설치되면 조정하기 어려우므로 14cm로 설계하였으며, 주간조정은 원형배종장치의 구동기어부의 속도비로 간격을 조정할 수 있도록 기어장치를 설계하였다. 주간조정은 13에서 18cm의 범위에서 작동하도록 설계되었으며, 필요에 따라 간격조절이 가능함. 마늘은 그 크기가 다르고, 형상도 다르기 때문에 종자에 따른 개별적인 파종기술들이 개발되어야하기 때문에 개발 기간이 오래 걸리고, 수익에 비하여 개발비가 과다하게 요구되는 실정인데 축적된 시뮬레이션 툴을 이용한 파종기 분석 기술을 확보할 경우 다른 파종기의 연구 개발에도 크게 도움이 될 것으로 기대되며, 생육측정 실험과 동역학 해석 툴 RecurDyn을 통해 파종기의 기구학적 분석을 통한 설계반영 인자를 도출할 계획이다.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.25 no.5
• /
• pp.335-347
• /
• 2013

In February 2008, high storm waves due to a developed atmospheric low pressure system propagating from the west off Hokkaido, Japan, to the south and southwest throughout the East Sea (ES) caused extensive damages along the central coast of Japan and along the east coast of Korea. This study consists of two parts. In the first part, we estimate extreme storm wave characteristics in the Toyama Bay where heavy coastal damages occurred, using a non-hydrostatic meteorological model and a spectral wave model by considering the extreme conditions for two factors for wind wave growth, such as wind intensity and duration. The estimated extreme significant wave height and corresponding wave period were 6.78 m and 18.28 sec, respectively, at the Fushiki Toyama. In the second part, we perform numerical experiments on wave-structure interaction in the Fushiki Port, Toyama Bay, where the long North-Breakwater was heavily damaged by the storm waves in February 2008. The experiments are conducted using a non-linear shallow-water equation model with adaptive mesh refinement (AMR) and wet-dry scheme. The estimated extreme storm waves of 6.78 m and 18.28 sec are used for incident wave profile. The results show that the Fushiki Port would be overtopped and flooded by extreme storm waves if the North-Breakwater does not function properly after being damaged. Also the storm waves would overtop seawalls and sidewalls of the Manyou Pier behind the North-Breakwater. The results also depict that refined meshes by AMR method with wet-dry scheme applied capture the coastline and coastal structure well while keeping the computational load efficiently.

• Membrane Journal
• /
• v.32 no.6
• /
• pp.475-485
• /
• 2022

The continuous excessive consumption of fossil fuels is causing global warming, climate, and environmental crisis. Accordingly, hydrogen energy attracts attention among alternative energies of fossil fuels, because it has the advantage of not emitting pollutants and not having resource restrictions. Therefore, various studies are being conducted on a water electrolysis system for producing hydrogen and a fuel cell system for producing electricity by using hydrogen energy as a fuel. In this study, 3D ionomer models were produced by reflecting the excessive water condition of an anion-conductive ionomer material, which is one of the core materials of water electrolysis systems and fuel cells. Finally, by analyzing the structural stability and performance of the ionomer under an excessively hydrated condition, we suggested a performance improvement factor in the design of an anion conductive ionomer, a key material for water electrolysis systems and fuel cells.

• Journal of Advanced Marine Engineering and Technology
• /
• v.40 no.7
• /
• pp.663-670
• /
• 2016

This paper introduces the concept of the computer-aided engineering(CAE) design method for a bypass valve in a system that is used for the safe lifting of mineral resources in deep-seabed mining. Although the bypass valve has a simple mechanism, its design is very difficult because of various influencing factors. This equipment, which has a complex design process, should be developed by CAE-based design method. The method can perform the design, design verification, and virtual experiment at the same time. In this study, the CAE-based method for the design of the bypass valve has been developed using fluid dynamics, multi-body dynamics, and optimization method.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.6
• /
• pp.443-453
• /
• 2020

This study using the active vibration control technique attempts to alleviate numerically the airframe vibration of a UH-60A helicopter. The AVCS(Active Vibration Control System) is applied to reduce the 4/rev vibration responses at the specified locations of the UH-60A airframe. The 4/rev hub vibratory loads of the UH-60A rotor is predicted using the nonlinear flexible dynamics analysis code, DYMORE II. Various tools such as NDARC, MSC.NASTRAN, and MATLAB Simulink are used for the AVCS simulation with five CRFGs and seven accelerometers. At a flight speed of 158knots, the predicted 4/rev hub vibratory loads of UH-60A rotor excite the airframe, and then the 4/rev vibration responses at the specified airframe positions such as the pilot seat, rotor-fuselage joint, mid-cabin, and aft-cabin are calculated without and with AVCS. The 4/rev vibration responses at all the locations and directions are reduced by from 25.14 to 96.05% when AVCS is used, as compared to the baseline results without AVCS.