• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Wind and Structures
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• v.12 no.3
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• pp.179-204
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• 2009

A physical and numerical steady flow impinging jet has been used to simulate the bulk characteristics of a downburst-like wind field. The influence of downdraft tilt and surface roughness on the ensuing wall jet flow has been investigated. It was found that a simulated downdraft impinging the surface at a non-normal angle has the potential for causing larger structural loads than the normal impingement case. It was also found that for the current impinging jet simulations, surface roughness played a minor role in determining the storm maximum wind structure, but this influence increased as the wall jet diverged. However, through comparison with previous research it was found that the influence of surface roughness is Reynolds number dependent and therefore may differ from that reported herein for full-scale downburst cases. Using the current experimental results an empirical model has been developed for laboratory-scale impinging jet velocity structure that includes the influence of both jet tilt and surface roughness.

• Ocean Systems Engineering
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• v.10 no.3
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• pp.289-316
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• 2020

In the present paper, the effect of the location of stern planes on the flow entering the submarine propeller is studied numerically. These planes are mounted on three longitudinal positions on the submarine stern. The results are presented considering the flow field characteristics such as non-dimensional pressure coefficient, effective drag and lift forces on the stern plane, and the wake flow formed at the rear of the submarine where the propeller is located. In the present study, the submarine is studied at fully immersed condition without considering the free surface effects. The numerical results are verified with the experimental data. It is concluded that as the number of planes installed at the end of the stern section along the submarine model increases, the average velocity, width of the wake flow and its turbulence intensity formed at the end of the submarine enhance. This leads to a reduction in the non-uniformity of the inlet flow to the propulsion system.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2005.10a
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• pp.269-272
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• 2005

For the three decades, the mold-filling of injection molding process was modeled as Hele-Shaw model. However, this model can not consider the 3D effect. In this paper, numerical simulations of three dimensional mold-filling during the filling phase were performed. The governing equations were discretized by segregated finite element method, which used equal order interpolation for pressure and velocity fields. The iterative linear equation solver (JCG, SOR) was employed for the solution of the momentum and pressure equations. Volume of Fluid (VOF) was employed for the melt front advancement. To check the validity of the numerical results, the results were compared with the experimental ones. The agreements between the experiment and the numerical results were found to be satisfactory.

• Structural Engineering and Mechanics
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• v.35 no.3
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• pp.365-377
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• 2010

In the present article, effect of non-uniform excitation due to spatially variation of seismic input on nonlinear response of concrete gravity dams is considered. The reservoir is assumed compressible. Isotropic damage mechanics approach is used to model static and dynamic nonlinear behavior of mass concrete in 2D space. The validity of utilized nonlinear model is considered using available theoretical results under static and dynamic conditions. The tallest monolith of Pine Flat dam is selected as a case study. Two cases are analyzed for considering the effect of limited wave propagation velocity on seismic behavior of the dam-reservoir system in which travelling velocities are chosen as 2000 m/s and infinity. It is found that tensile damage in neck and toe regions and also, in the vicinity of the base increase when the system is excited non-uniformly.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.486-493
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• 2015

In this paper, a battery model for electric vehicle virtual platform was developed. A battery model consisted of a battery cell model and battery thermal management system. A battery cell model was developed based on Randles equivalent circuit model. Circuit parameters in the form of 3D map data was obtained by charge-discharge experiment of Li-Polymer battery in various temperature condition. The developed battery cell model was experimentally verified by comparing voltages. Thermal management system model was also developed using heat generator, heat transfer and convection model, and cooling fan. For verification of the developed battery model in vehicle level, the integrated battery model was applied in to EV(electric vehicle) virtual platform, and virtual driving simulation using UDDS velocity profile was conducted. The accuracy of the developed battery model has been verified by comparing the simulation results from EV platform with the experimental data.

• Journal of computational fluids engineering
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• v.20 no.2
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• pp.46-51
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• 2015

In this paper, we have developed numerical model for particulated flow through narrow slit using Eulerian-Granular method. Commercial software (FLUENT) was utilized as simulation tool and main focus was to identify the effect from various numerical options for modeling of solid particles as continuos phase in granular flow. Gidaspow model was chosen as basic model for solid viscosity and drag model. And lun-et-al model was used as solid pressure and radial distribution model, respectively. Several other model options in FLUENT were tested considering the cross related effect. Mass flow rate of the particulate through the slit was measured to compare. Due to the high volume density of the stacked particulates above the slit, effect from various numerical options were not significant. The numerical results from basic model were also compared with experimental results and showed very good agreement. The effects from the characteristics of particles such as diameter, angle of internal friction, and collision coefficient were also analyzed for future design of velocity resistance layer in solar thermal absorber. Angle of internal friction was found to be the dominat variable for the particle mass flow rate considerably. More defined 3D model along with energy equation for complete solar thermal absorber design is currently underway.

• Proceedings of KOSOMES biannual meeting
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• 2007.05a
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• pp.169-174
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• 2007

The purpose in having a control rod an a buoy system is to control the motion of it. The system may be composed entirely af a single circular cylinder finder and a lang mooring anchor cable. A control rod has one function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of the effects of mutual interference, then determine the stability characteristics of the body. In this paper, the study of control-rod-attached buoy's 2-dimensional section was accomplished. model tests and numerical simulations had been carried out with different diameters of control rods. and varying the Reynolds number $Re=5,000{\sim}25,000$ based an the cylinder diameter(D=50mm) to. predict the performance af the body and the 2 frame particle tracking method had been used to obtain the velocity distribution in the flaw field 50mm circular cylinder had been used during the whale experiments and measured results had been compared with each other.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.1
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• pp.121-126
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• 2018

The oral hygiene of patients admitted to the ICU (Intensive Care Unit) is very important. Critically ill patients are basically immunocompromised ones because of the high risk of infection by various pathogenic bacteria. The mouth is not only the primary site of infection, but also the site of systemic infections. The purpose of this study was to design a mouthpiece type vacuum oral cleaner for the oral care of seriously ill patients. A 3D CAD modeling and flow analysis model were established for a double structure type cleaner and standard tooth model, and their pressure and flow characteristics were analyzed. The pressure inside the oral cleaner was almost constant, but the velocity distribution showed a large difference between the inside and outside of the teeth. The velocity at the center region inside of the teeth was the highest, and the speed decreased as the distance from the center increased. In the analysis of the case where the suction tube was replaced by the drainage tube, the velocity at the center of the outer portion of the teeth was the highest. In order to increase the effectiveness of the oral cleaner, alternating between suction and drainage is proposed, and a design complement to increase the speed of the molar region is required.

• International Journal of Highway Engineering
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• v.15 no.6
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• pp.79-91
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• 2013

PURPOSES : The methods of measuring the sound from the noise source are Pass-by method and NCPX (Noble Close Proximity) method. These measuring methods were used to determine the linkage of TAPL (Total Acoustic Pressure Level) and SPL (Sound Pressure Level) in terms of frequencies. METHODS : The frequency analysis methods are DFT (Discrete Fourier Transform) and FFT (Fast Fourier Transform), CPB (Constant Percentage Bandwidth). The CPB analysis was used in this study, based on the 1/3 octave band option configured for the frequency analysis. Furthermore, the regression analysis was used at the condition related to the sound attenuation effect. The MPE (Mean Percentage Error) and RMSE (Root Mean Squared Error) were utilized for calculating the error. RESULTS : From the results of the CPB frequency analysis, the predicted SPL along the frequency has 99.1% maximum precision with the measured SPL, resulting in roughly 1 dB(A) error. The TAPL results have precision by 99.37% with the measured TAPL. The predicted TAPL results at this study by using the SPL prediction model along the frequency have the maximum precision of 98.37% with the vehicle velocity. CONCLUSIONS : The Predicted SPL model along the frequency and the TAPL result by using the predicted SPL model have a high level of accuracy through this study. But the vehicle velocity-TAPL prediction model from the previous study by using the log regression analysis cannot be consistent with the TAPL result by using the predicted SPL model.