• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Journal of applied mathematics & informatics
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• v.19 no.1_2
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• pp.215-229
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• 2005

In this paper, constraint aggregation is combined with the adjoint and multiple shooting strategies for optimal control of differential algebraic equations (DAE) systems. The approach retains the inherent parallelism of the conventional multiple shooting method, while also being much more efficient for large scale problems. Constraint aggregation is employed to reduce the number of nonlinear continuity constraints in each multiple shooting interval, and its derivatives are computed by the adjoint DAE solver DASPKADJOINT together with ADIFOR and TAMC, the automatic differentiation software for forward and reverse mode, respectively. Numerical experiments demonstrate the effectiveness of the approach.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2339-2348
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• 1994

The objective of this paper is to develop a solution method for the differential-algebraic equation(DAE) derived from constrained muti-body dynamic systems. Mechanical systems are often modeled as bodies and joints. Differential equations of motion are formulated for bodies. Since the bodies are connected by joint, the differential variables must satisfy the kinematic constraint equations that come from the joints. Difficulties are arised due to drift of the differential variables off the constraint equations. An optimization method is adopted to correct the drift of the differential variables. To demonstrate the efficiency of the proposed method a slider-crank mechanism is analyzed dynamically. Identical results are obtained as these from the commercial program DADS. Dynamic analysis of a High Mobility Multi-purpose Wheeled. Vehicle(HMMWV) is carried out to show the practicalism of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.3
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• pp.8-16
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• 2002

The implicit formulation of rotor dynamics for helicopter flight simulation has been derived and and presented. The generalized vector kinematics regarding the relative motion between coordinates were expressed as a unified matrix operation and applied to get the inertial velocities and accelerations at arbitaty rotor blade span position. Based on these results the rotor aeromechanic equations for flapping dynamics, lead-lag dynamics and torque dynamics were formulated as an implicit form. Spatial integration methods of rotor dynamic equations along blade span and the expanded applicability of the present implicit formulations for arbitrary hings geometry and hinge sequences have been investigated. Time integration methods for present DAE(Differential Algebraic Equation) to calculate dynamic response calculation are recommenaded as future works.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1841-1844
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• 2004

'Mixing Index($D_I$)'s generally used to measure the degree of mixing. A new method to calculate $D_I$ was proposed, when insoluble solution flows in micromixer. 'Vortex Index (${\Omega}_I$)'which indicate the degree of chaotic advection, is defined and formulated. A lots of arbitrary shaped microchannels were tested to calculate the $D_I$ and ${\Omega}_I$. And then a simple algebraic equation, $D_I=A{\Omega}_I+B$, was obtained. This equation may be used instead of partial differential equation, concentration equation.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.2 s.233
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• pp.232-238
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• 2005

The 'Mixing Index($D_I$)' is used as a conventional guidance measuring the degree of mixing for multiphase flows. For the case when insoluble solutions flow in a passive micromixer, a new method to calculate $D_I$ is proposed. The 'Vortex Index(${\Omega}_I$)' is suggested and formulated. We infer that ${\Omega}_I$ relates to the degree of chaotic advection. Various arbitrary shaped microchannels were tested to calculate the $D_I\;and\;{\Omega}_I$, and then a simple algebraic equation, $D_I=Aexp(B{\Omega}_I)$, is obtained. This equation may be used instead of the conventional partial differential equation, concentration equation, to estimate the degree of mixing.

• International Journal of Automotive Technology
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• v.2 no.3
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• Membrane Journal
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• v.20 no.1
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• pp.29-39
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• 2010

This study focuses on the modeling of DMFC to predict the characteristics and to improve its performance. This modeling requires deep understanding of the design and operating parameters that influence on the cell potential. Furthermore, the knowledge with reference to electrochemistry, transport phenomena and fluid dynamics should be employed for the duration of mathematical description of the given process. Considering the fact that MEA is the nucleus of DMFC, special attention was made to the development of mathematical model of MEA. Multiscale modeling is comprised of process modeling as well as a computational fluid dynamics (CFD) modeling. The CFD packages and process simulation tools are used in simulating the steady-state process. The process simulation tool calculates theelectrochemical kinetics as well as the change of fractions, and at the same time, CFD calculates various balance equations. The integrated simulation with multiscal modeling explains experimental observations of transparent DMFC.