• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.34-39
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• 1998

In order to compute the forces which are transmitted through rubber bushings with a commercial multibody dynamic analysis (MBDA) program, a rubber bushing model is needed. The rubber bushing model of MBDA programs such as DADS or ADAMS is the Voigt model which is simply a parallel spring-viscous damper system, meaning that the damping force of the Voigt model is proportional to the frequency. However, experiments do not necessarily support this proportionality. Alternatively, the viscoelastic characteristics of rubber bushings can be better represented by the complex stiffness. The purpose of this paper is to develop a viscoelastic rubber bushing model for the MBDA programs. Firstly, a methodology is proposed to calculate the complex stiffness of rubber bushings considering static and dynamic load conditions. Secondly, a viscoelastic rubber bushing model developed which uses standard elements provided by DADS. The proposed methods are applied to the rubber bushings of the lower control arms of a rear suspension of a 1994 Ford Taurus model. Then, the forces computed for the rubber bushing model are analyzed and compared with the Voigt model in time and frequency domains.

• Archives of design research
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• v.16 no.2
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• pp.15-22
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• 2003

This is a study on the roles in the association of sound as subtext for animation. On this study, it will be helpful to develop sound concepts and to create animations with creativity. For animation without sound can be produced as an artistic purpose, however, most animations are created with sound. It is not means that sound is less important than visual in animations. Sound is also one of significant element to create animations. Sound have many important rolls for subtext such as parts of action, leitmotif, characteristic, time, ethnic, localization in the animations. It will be analyzed two animations such as Shrek (DreamWorks Pictures production/ Director: Andrew Adams) and Monsters Inc. (Walt Disney Pictures/ Director: Peter Doctor).

• International Journal of Safety
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• v.11 no.1
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• pp.22-25
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• 2012

Scoliosis can be biomechanically described as a three dimensional deformity of the spine, with deviations from the physiologic curves in the sagittal and frontal planes, usually combined with intervertebral rotation. Various factors are suspected such as genetic defects, uneven growth of the vertebrae, hormonal effects, abnormal muscular activity, postural problems, or a mix of some of these elements, but its initial cause is known in only 15-20% cases. The screening test for diagnosing scoliosis is called the Adams Forward Bend Test. During the experiment, the subjects were asked to bend over, with arms dangling, until a curve could be observed. The Scoliometer was placed on the back of the subjects and used to measure the difference between the left and right apex of the curve in the thoracic, thoracolumbar and lumbar area. Then, the subjects were asked to perform Maximum Voluntary Contractions (MVCs) using the digital back muscle dynamometer in three different postures: (1) 0o (sagittally symmetric); (2) 30o from the mid-sagittal plane (clockwise); and (3) 30o from the mid-sagittal plane (counterclockwise). In addition to the experimental data, subject-dependent variables including Body Mass Index (BMI), percentage of body fat and muscle mass of left/right arms and legs were employed to reveal the cause of difference among three MVC conditions. All those variables were tested using statistical methods.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.4
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• pp.86-92
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• 2009

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. Autonomous driving robot for factory automation has individual four-wheels which are driven by electronic motors. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. A diver-vehicle model is proposed by using the PID control to velocity and trajectory of control autonomous driving robot. To determine the optimum speed of a autonomous driving robot, steady-state circle simulation is carried out with the ADAMS program and MATLAB control model.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.6
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• pp.14-22
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• 2010

In this study, a large bus is tested for measuring the steering response based on the slarom test and step steer test. A full car model by using ADAMS/Car is established for computer simulation. For bus modeling, user defined templates are made and used in the simulation. Simulation results according to the slarom and step steer test are compared to the physical experiments, in which several sensors are installed to measure vehicle responses. The results obtained from the comparison show a good agreement with regard to the vehicle velocity and steering angle.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.1
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• pp.99-104
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• 2009

In this paper, the drop characteristic of the small aircraft landing gear of SUAV has been analyzed and performed on orifice optimal design for shock absorption efficiency. The SUAV landing gear was simple oleo pneumatic type without metering pin. The landing gear was modelled by MSC ADAMS software. Drop test evaluation was conducted to confirm the analysis model. As a result of correlation between analysis and test results, it was verified that these results were coincided with very well. After confidence review of analysis model through the correlation between test and analysis results, design parametric study was performed by using confirmed analysis model. Optimal orifice size with best efficiency have been decided in this study.

• Ocean Systems Engineering
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• v.1 no.4
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• pp.355-372
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• 2011

Based on the fully nonlinear velocity potential theory, the liquid sloshing in a three dimensional tank under random excitation is studied. The governing Laplace equation with fully nonlinear boundary conditions on the moving free surface is solved using the indirect desingularized boundary integral equation method (DBIEM). The fourth-order predictor-corrector Adams-Bashforth-Moulton scheme (ABM4) and mixed Eulerian-Lagrangian (MEL) method are used for the time-stepping integration of the free surface boundary conditions. A smoothing scheme, B-spline curve, is applied to both the longitudinal and transverse directions of the tank to eliminate the possible saw-tooth instabilities. When the tank is undergoing one dimensional regular motion of small amplitude, the calculated results are found to be in very good agreement with linear analytical solution. In the simulation, the normal standing waves, travelling waves and bores are observed. The extensive calculation has been made for the tank undergoing specified random oscillation. The nonlinear effect of random sloshing wave is studied and the effect of peak frequency used for the generation of random oscillation is investigated. It is found that, even as the peak value of spectrum for oscillation becomes smaller, the maximum wave elevation on the side wall becomes bigger when the peak frequency is closer to the natural frequency.

• Fisheries and Aquatic Sciences
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• v.3 no.1
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• pp.52-63
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• 2000

Non-specific reaction has been a problem in doing, especially, research and diagnosis for infectious agents. Avidin-biotin-peroxidase complex (ABC) techniques has widely been used to amplify a reaction. Photobacterium damse1a subsp. piscicdia (formerly Pasteurella piscicida) exhibited a capacity to bind with streptavidin non-specifically. The band, estimated 26 K Da in Western blotted paper, was blocked with biotin but incompletely. In an attempt to explore an involvement of the non-specific substance in attaching piscine cells, cell attachment test performed using anti- Ph. d. subsp piscicida sera raised mouse and rabbit exhibited slightly blocking effects for Mediterranean (1736) and significantly for Japanese (Sp 92144) isolate. Biotin decreased the attachment ability significantly for Sp92144 but it was not effective to 1736. Both isolates showed greatly enhanced attachment ability with poly-L-lysin. The non-specific binding substance was contained in bacterial extracellular products (ECPs). The substance was able to purified with 2-imminobiotin affinity column, the purified substance appeared to have 4 bands in silver staining, and had a carbohydrate branch. This purified substance showed cytotoxic effects selectively between 5 piscine cell lines. Moreover, it stimulated rainbow trout macrophage in terms of reduction of cytochrome cas well as yeast phagocytosis, significantly.

• Transactions of the Korean hydrogen and new energy society
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• v.19 no.6
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• pp.537-544
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• 2008

In this paper, flow characteristics of an adiabatic capillary tube in a transcritical $CO_2$ have been investigated employing the homogeneous model. The model is based on fundamental equations of mass, energy and momentum which are solved simultaneously. Two friction factors(Churchill) and viscosity(McAdams) are comparatively used to investigate the flow characteristics. Supercritical and subcritical thermodynamic and transport properties of $CO_2$ are calculated employing EES property code. Flow characteristics analysis of $CO_2$ adiabatic capillary tube is presented to offer the basic design data for the operating parameters. The operating parameters considered in this study include inlet temperature and pressure of an adiabatic capillary tube, evaporating temperature and inner diameter tube. The main results were summarized as follows : inlet temperature and pressure of an adiabatic capillary tube, evaporating temperature, mass flowrate and inner diameter of $CO_2$ adiabatic capillary tube have an effect on length of an adiabatic capillary tube.