• Coupled systems mechanics
• /
• v.9 no.6
• /
• pp.539-562
• /
• 2020

In this paper the linear elastic coupling between a 2 degree of freedom shear-type frame system and a rigid block is analytically and experimentally investigated. As demonstrated by some of the authors in previous papers, it is possible to choose a coupling system able to guarantee advantages, whatever the mechanical characteristics of the frame. The main purpose of the investigation is to validate the analytical model. The nonlinear equations of motion of the coupled system are obtained by a Lagrangian approach and successively numerically integrated under harmonic and seismic excitation. The results, in terms of gain graphs, maps and spectra, represent the ratio between the maximum displacements or drifts of the coupled and uncoupled systems as a function of the system's parameters. Numerical investigations show the effectiveness of the nonlinear coupling for a large set of parameters. Thus experimental tests are carried out to verify the analytical results. An electro-dynamic long-stroke shaker sinusoidally and seismically forces a shear-type 2 d.o.f frame coupled with a rigid aluminium block. The experimental investigations confirm the effectiveness of the coupling as predicted by the analytical model.

• Journal of computational fluids engineering
• /
• v.19 no.2
• /
• pp.86-92
• /
• 2014

In this paper, prediction of separation trajectory for Two-stage-To-Orbit space launch vehicle has been numerically simulated by using an aerodynamic database based on steady state analysis. Aerodynamic database were obtained for matrix of longitudinal and vertical positions. The steady flow simulations around the launch vehicle have been made by using a 3-D RANS flow solver based on unstructured meshes. For this purpose, a vertex-centered finite-volume method was adopted to discretize inviscid and viscous fluxes. Roe's finite difference splitting was utilized to discretize the inviscid fluxes, and the viscous fluxes were computed based on central differencing. To validate this flow solver, calculations were made for the wind-tunnel experiment model of the LGBB TSTO vehicle configuration on steady state conditions. Aerodynamic database was constructed by using flow simulations based on test matrix from the wind-tunnel experiment. ANN(Artificial Neural Network) was applied to construct interpolation function among aerodynamic variables. Separation trajectory for TSTO launch vehicle was predicted from 6-DOF equation of motion based on the interpolated function. The result of present separation trajectory calculation was compared with the trajectory using experimental database. The predicted results for the separation trajectory shows fair agreement with reference[4] solution.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.7
• /
• pp.600-609
• /
• 2017

We designed a target management integration system that enables us to select the final target manually or automatically from seeker's sensor image. The integrated system was developed separately for the air vehicle system and the ground system. The air vehicle system simulates the motion dynamics and the sensor image of the air vehicle, and the ground system is composed of the target template image module and the ground control center module. The flight maneuver of the air vehicle is based on pseudo 6-degree of freedom motion equation and the proportional navigation guidance. The sensor image module was developed using the known infrared(IR) image rendering method, and was verified by comparing the rendered image to that of a commercial software. The ground control center module includes an user interface that can display as much information to meet user needs. Finally, we verified the integrated system with simulated impact target mission of the air vehicle, by confirming the final target change and the shot down result of the user's intervention.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.4
• /
• pp.359-365
• /
• 2011

A mobile surveillance robot is defined as a surveillance robot system that is mounted on a mobile platform and is used to protect public areas such as airports or harbors from invaders. The mobile surveillance robot that is mounted on a mobile platform consists of a gun module, a camera system module, an embedded control system, and AHRS (Attitude and Heading Reference System). It has two axis control systems for controlling its elevation and azimuth. In order to obtain stable images for targeting invaders, this system requires a stabilizer to compensate any disturbance due to vehicle motion. In this study, a virtual model of a mobile surveillance robot has been created and ADAMS/Matlab simulations have been performed to verify the suitability of the proposed stabilization algorithm. Further, the suitability of the stabilization algorithm has also been verified using a mock-up of the mobile surveillance robot and a 6-DOF (Degree Of Freedom) motion simulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.209-214
• /
• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Journal of Navigation and Port Research
• /
• v.35 no.3
• /
• pp.227-233
• /
• 2011

This paper presents the tracking and stabilization problem of a night vision system for marine surveillance. Both a hardware system and software modules are developed to control azimuth and elevation axes independently with compensation for ship motion. A two degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the proposed method.

• Tunnel and Underground Space
• /
• v.6 no.2
• /
• pp.157-165
• /
• 1996

In order to analyze the effects of ground vibration caused by underground blasting having an effect on structure, the particle velocity and acceleration are calculated by using DYNPAK program. The DYNPAK program analyzes nonlinear transient dynamic problem and adopts the very popular and easily implemented, explicit, central difference scheme. In this program, the material behavior is assumed to be elasto-viscoplastic. Using the particle acceleration history, modal analysis method is applied to the forced vibration response of multiple-degree-of-freedom(MDOF) systems using unclupled equations of motion expressed in terms of the system's natural circular frequencies and modal damping factors. AS a means of evaluating the vibration behavior of building structure subjected to underground blasting, the time response of the displacements relative to the ground of five-story building is determined. It is concluded that the amount of explosives consumed per round, the location of structure, the properties of rock medium, the stiffness fo structure, etc. act on the important factors influencing on the safety of building and that the response of a structure subjected to a forced excitation can usually be obtained with reasonable accuracy by the modal analysis of only a few mode of the lower frequencies of the system.

• Wind and Structures
• /
• v.22 no.1
• /
• pp.17-41
• /
• 2016

To address the uncertainty of the flight trajectories caused by the turbulence and gustiness of the wind field over the roof and in the wake of a building, a 3-D probabilistic trajectory model of flat-type wind-borne debris is developed in this study. The core of this methodology is a 6 degree-of-freedom deterministic model, derived from the governing equations of motion of the debris, and a Monte Carlo simulation engine used to account for the uncertainty resulting from vertical and lateral gust wind velocity components. The influence of several parameters, including initial wind speed, time step, gust sampling frequency, number of Monte Carlo simulations, and the extreme gust factor, on the accuracy of the proposed model is examined. For the purpose of validation and calibration, the simulated results from the 3-D probabilistic trajectory model are compared against the available wind tunnel test data. Results show that the maximum relative error between the simulated and wind tunnel test results of the average longitudinal position is about 20%, implying that the probabilistic model provides a reliable and effective means to predict the 3-D flight of the plate-type wind-borne debris.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.21 no.8
• /
• pp.733-740
• /
• 2011

This paper deals with the process to identify the transient exciting force generated from a rotary compressor. The compressor was assumed to be a rigid body. The equation of motion of a rigid compressor supported by three mounts was derived with 6 degree-of-freedom. The exciting forces at the center of mass of the compressor were estimated from the acceleration data measured at compressor shell. Compressor-pipe system was modeled numerically. The accelerations of compressor and pipe were predicted numerically by using the estimated exciting force. A new shape of pipe model was proposed to reduce the vibration. In the prediction by the method in this paper, the maximum acceleration of the pipe could be reduced by 53.7 % at the steady-state and by 12 % at the transient process. In the real experiments, the maximum acceleration of the pipe was reduced by 54.2 % at steady-state and 14.7 % at the transient process. It was verified that the numerical results showed good agreement with experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.6
• /
• pp.713-721
• /
• 1998

In this paper a new modeling and an optimal pole-placement control for the suspension system of Macpherson type are investigated. The rotational motion of the unsprung mass is emphasized in the new modeling. The two generalized coordinates selected in the new model are the vortical displacement of sprung mass and the angular displacement of control arm. Both variables are measured from their static equilibrium points. It is shown that the conventional model is a special case of the new model since the transfer function of the new model coincides with that of the conventional one if the lower support point of the shock absorber is located at the mass center of the unsprung mass. It is also shown that the resonance frequencies of the new model agree better with experimental results. Therefore, the new model is more general in the sense that it Provides an extra degree of freedom in determining the plant model for control system design. An optimal pole-placement control which combines LQ control and pole-placement technique is applied to the new model. Simulations are provided.