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

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.26 no.5
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• pp.300-313
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• 2014

Most analytical solutions for wave-induced soil response have been mainly developed to investigate the influence of the progressive and standing waves on the seabed response in an infinite seabed. This paper presents a new analytical solution to the governing equations considering the wave-induced soil response for the partial standing wave fields with arbitrary reflectivity in a porous seabed of finite thickness, using the effective stress based on Biot's theory (Biot, 1941) and elastic foundation coupled with linear wave theory. The newly developed solution for wave-seabed interaction in seabed of finite depth has wide applicability as an analytical solutions because it can be easily extended to the previous analytical solutions by varying water depth and reflection ratio. For more realistic wave field, the partial standing waves caused by the breakwaters with arbitrary reflectivity are considered. The analytical solutions was verified by comparing with the previous results for a seabed of infinite thickness under the two-dimensional progressive and standing wave fields derived by Yamamoto et al.(1978) and Tsai & Lee(1994). Based on the analytical solutions derived in this study, the influence of water depth and wave period on the characteristics of the seabed response for the progressive, standing and partial standing wave fields in a seabed of finite thickness were carefully examined. The analytical solution shows that the soil response (including pore pressure, shear stress, horizontal and vertical effective stresses) for a seabed of finite thickness is quite different in an infinite seabed. In particular, this study also found that the wave-induced seabed response under the partial wave conditions was reduced compared with the standing wave fields, and depends on the reflection coefficient.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.3
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• pp.347-352
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• 2007

Eigenvalue reduction schemes approximate the lower eigenmodes that represent the global behavior of the structures. In the previous study, we proposed a two-level condensation scheme (TLCS) for the construction of a reduced system. In the first step, the selection of candidate elements by energy estimation, Rayleigh quotient, through Ritz vector calculation. In the second step, the primary degrees of freedom are selected by the sequential elimination method from the degrees of freedom connected to the candidate elements in the first step. In the present study, we propose TLCS combined with iterative improved reduced system (IIRS) to increase accuracy of the higher modes in the intermediate range. Also, it is possible to control the accuracy of the eigenvalues and eigenmodes of the reduced system. Finally, numerical examples demonstrate the performance of the proposed method.

• Journal of Korean Society of Steel Construction
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• v.9 no.2 s.31
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• pp.181-191
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• 1997

Before cables are constructed, tower of suspension bridge is behaved as a cantilever type. Buffeting occured by unsteady loading of the tower due to velocity fluctuation in the oncoming flow has a wind velocity consistent with fundamental frequency of the tower and may give rise to large response by the tower resonance. To reduce the dynamic response by buffeting, the behavior of tower with TMD(Tuned Mass Damper) has studied using finite element method in time domain. The buffeting was obtained by transforming the velocity spectrum in frequency domain to random variable in certain time domain. The most probable maximum displacement which can be occured during the time interval was obtained using peak factor. The optimum location for TMD installation and TMD specification were decided by parametric study. Also, the effect of vibration control about various wind velocity was studied by the TMD which has optimum specification and location.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.3 no.3
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• pp.231-236
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• 2005

HIC transport packaging to transport a high integrity container(HIC) containing dry spent resin generated from nuclear power plants is to comply with the regulatory requirements of Korea and IAEA for Type B packaging due to the high radioactivity of the content, and to maintain the structural integrity under normal and accident conditions. It must withstand 9 m free drop impact onto an unyielding surface and 1 m drop impact onto a mild steel bar in a position causing maximum damage. For the conceptual design of a cylindrical HIC transport package, three dimensional dynamic structural analysis to ensure that the integrity of the package is maintained under all credible loads for 9 m free drop and 1 m puncture conditions were carried out using ABAQUS code.

• Journal of the Earthquake Engineering Society of Korea
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• v.15 no.4
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• pp.13-21
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• 2011

Seismic structure pounding between adjacent superstructures may induce the destruction of pier and bridge superstructures and cause local damage that leads to the collapse of the whole bridge system. The pounding problem is related to the expansion of joints, gap distance and seismic response of the abutments. In this research, methods of the contact element approach, the linear spring model, the Kelvin-Voigt model and the Hertz model were studied to analyse the pounding characteristics. The shaking table test for a model specimen such as a bridge superstructure with elastomeric bearings was performed to evaluate the contact element approach methods. Relationships between the time history response from the numerical analysis results and the measured response from the shaking table test are compared. The experimental results were not well matched with the numerical analysis results using the existing pounding stiffness models. Therefore, in this study, coefficients are proposed to calculate the appropriate pounding stiffness ratio.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.2
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• pp.187-196
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• 2013

A numerical model was developed to predict the density wave oscillation (DWO) in the furnace wall tubes of a fossil-fired once-through boiler. The transient flow fields in the tubes were obtained using a 1D finite volume method in the time domain. A header model was also implemented to simulate the parallel tube connection of the wall tubes. The inlet and outlet mass flow variation in one of the parallel tubes was examined after a heat perturbation to find the DWO. After successful verification with experimental results reported in literature, the developed model was applied to the wall tubes of a 700-MW boiler furnace. In contrast to the simulation of Takitani's experiment, in which the unstable power thresholds tended to rise in the reduced bypass channel flow, no remarkable changes were observed in the power thresholds in the parallel channel modeling of the wall tubes of the boiler furnace.

• The Journal of the Acoustical Society of Korea
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• v.16 no.6
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• pp.61-67
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• 1997

Piezoelectric gyroscopes are the devices to measure angular rotational velocity of a system with respect to an inertial frame of reference means of the Coriolis principle. Most of current piezoelectric gyroscopes detect rotational velocity about a single axis of rotation. This paper describes development of a new dual axial gyroscope made out of the piezoelectric ceramic, PZT, which can overcome the limitation of the current single axial type. The validity of the new structure is checked through finite element analysis. Based on the design, an experimental sample of the sensor is fabricated and its performance is discussed in comparison with the theoretical expectation. The resutls show that the present gyroscope is capable of measuring the rotational velocity over two orthogonal axes simultaneously with good enough sensitivity and distinction between the two axial components of the rotation.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.12
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• pp.1738-1746
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• 2002

In the FSI (Fluid-Structure Interaction) problems, two different governing equations are to be solved together. One is fur the fluid and the other for the structure. Furthermore, a kinematic constraint should be imposed along the boundary between the fluid and the structure. We use the combined formulation, which incorporates both the fluid and structure equations of motion into a single coupled variational equation so that it is not necessary to calculate the fluid force on the surface of structure explicitly when solving the equations of motion of the structure. A two-dimensional channel flow divided by a Bernoulli-Euler beam is considered and the dynamic response of the beam under the influence of channel flow is studied. The Navier-Stokes equations are solved using a P2P1 Galerkin finite element method with ALE (Arbitrary Lagrangian-Eulerian) algorithm. The internal structural damping effect is not considered in this study and numerical results are compared with a previous work fer steady case. In addition to the Reynolds number, two non-dimensional parameters, which govern this fluid-structure system, are proposed. It is found that the larger the dynamic viscosity and density of the fluid are, the larger the damping of the beam is. Also, the added mass is found to be linearly proportional to the density of the fluid.