• Journal of information and communication convergence engineering
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• v.17 no.4
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• Wind and Structures
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• v.5 no.2_3_4
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• pp.329-336
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• 2002

The along-wind response of a surface-mounted elastic fence under the action of wind was investigated numerically. In the computations, two sets of equations, one for the simulation of the unsteady turbulent flow and the other for the calculation of the dynamic motion of the fence, were solved alternatively. The resulting time-series tip response of the fence as well as the flow fields were analyzed to examine the dynamic behaviors of the two. Results show that the flow is unsteady and is dominated by two frequencies: one relates to the shear layer vortices and the other one is subject to vortex shedding. The resulting unsteady wind load causes the fence to vibrate. The tip deflection of the fence is periodic and is symmetric to an equilibrium position, corresponding to the average load. Although the along-wind aerodynamic effect is not significant, the fluctuating quantities of the tip deflection, velocity and acceleration are enhanced as the fundamental frequency of the fence is near the vortex or shedding frequency of the flow due to the occurrence of resonance. In addition, when the fence is relatively soft, higher mode response can be excited, leading to significant increases of the variations of the tip velocity and acceleration.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.2
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.281-289
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• 2016

In this paper, a new dynamic model for modal analysis of a rotating cantilever beam with a tip-mass is developed. The nonlinear strain such as von Karman type and the corresponding linearized stress are used to consider the geometric nonlinearity, and Euler-Bernoulli beam theory is applied in the present model. The nonlinear equations of motion and the associated boundary conditions which include the inertia of the tip-mass are derived through Hamilton's principle. In order to investigate modal characteristics of the present model, the linearized equations of motion in the neighborhood of the equilibrium position are obtained by using perturbation technique to the nonlinear equations. Since the effect of the tip-mass is considered to the boundary condition of the flexible beam, weak forms are used to discretize the linearized equations. Compared with equations related to stiffening effect due to centrifugal force of the present and the previous model, the present model predicts the dynamic characteristic more precisely than the another model. As a result, the difference of natural frequencies loci between two models become larger as the rotating speed increases. In addition, we observed that the mode veering phenomenon occurs at the certain rotating speed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.677-682
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• 2003

The non-linear dynamic characteristics of a semi-circular pipe conveying fluid are investigated when the pipe is clamped at both ends. To consider the geometric non-linearity for the radial and circumferential displacements, this study adopts the Lagrange strain theory for large deformation and the extensible dynamics based on the Euler-Bernoulli beam theory for slenderness assumption. By using the Hamilton principle, the non-linear partial differential equations are derived for the in-plane motions of the pipe, considering the fluid inertia forces as a kind of non-conservative forces. The linear and non-linear terms in the governing equations are compared with those in the previous study, and some significant differences are discussed. To investigate the dynamic characteristics of the system, the discretized equations of motion are derived form the Galerkin method. The natural frequencies varying with the flow velocity are computed fen the two cases, which one is the linear problem and the other is the linearized problem in the neighborhood of the equilibrium position. Finally, the time responses at various flow velocities are directly computed by using the generalized- method. From these results, we should to describe the non-linear behavior to analyze dynamics of a semi-circular pipe conveying fluid more precisely.

• The KSFM Journal of Fluid Machinery
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• v.7 no.5 s.26
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• pp.20-28
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• 2004

Static and dynamic structural analyses of a turbine bladed-disk for a liquid rocket turbopump are performed to investigate the safety level of strength and vibration at design point. During operation, turbopump is exposed to various external loads. Therefore, the effects of them should be carefully considered and properly modeled. First, due to the high rotational speed of the turbopump, effects of centrifugal forces are considered in the structural analysis. Thermal load caused by severe temperature differences is also considered. A three dimensional finite element method (FEM) is used for linear and nonlinear structural analyses with modified Newton-Raphson iteration method. After the nonlinear solution is obtained from the structural analysis, dynamic characteristics are obtained as a function of rotational speed from the linearized eigenvalue analysis at an equilibrium position. From the analysis results, characteristics of stress distribution and vibration were thoroughly examined and investigated.

• Economic and Environmental Geology
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• v.56 no.4
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• pp.435-445
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• 2023

A delta is a depositional landform that is formed when sediment transported by a river is deposited in a relatively low-energy environment, such as a lake, sea, or a main channel. Among these, a delta formed at the confluence of rivers has a great importance in river management and research because it has a significant impact on the hydraulic and sedimentological characteristics of the river. Recently, the equilibrium state of the confluence area has been disrupted by large-scale dredging and construction of levees in the Nakdong River. However, due to the natural recovery of the river, the confluence area is returning to its pre-dredging natural state through ongoing sedimentation. The time-series data show that the confluence delta has been steadily growing since the dredging, but once it reaches a certain size, it repeats growth and retreat, and the overall size does not change significantly. In this study, we developed a model to explain the sedimentation-erosion processes in the confluence area based on the assumption that the confluence delta reaches a dynamic equilibrium. The model is based on two fundamental principles: sedimentation due to supply from the tributary and erosion due to the main channel. The erosion coefficient that represents the Nakdong River confluence areas, was obtained using data from the tributaries of the Nakdong River. Sensitivity analyses were conducted using the developed model to understand how the confluence delta responds to changes in the sediment and water discharges of the tributary and the main channel, respectively. We then used annual average discharge of the Nakdong River's tributaries to predict the dynamic equilibrium positions of the confluence deltas. Finally, we conducted a simulation experiment on the development of the Gamcheon-Nakdong River delta using recorded daily discharge. The results showed that even though it is a simple model, it accurately predicted the dynamic equilibrium positions of the confluence deltas in the Nakdong River, including the areas where the delta had not formed, and those where the delta had already formed and predicted the trend of the response of the Gamcheon-Nakdong River delta. However, the actual retreat in the Gamcheon-Nakdong River delta was not captured fully due to errors and limitations in the simplification process. The insights through this study provide basic information on the sediment supply of the Nakdong River through the confluence areas, which can be implemented as a basic model for river maintenance and management.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.12
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• pp.2012-2018
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• 2004

The vibration of a semi-circular pipe conveying fluid is studied when the pipe is clamped at both ends. To consider the geometric nonlinearity, this study adopts the Lagrange strain theory for large deformation and the extensible dynamics based on the Euler-Bernoulli beam theory for slenderness assumption. By using the Hamilton principle, the non-linear partial differential equations are derived for the in-plane motions of the pipe, considering the fluid inertia forces as a kind of non-conservative forces. The linear and non-linear terms in the governing equations are compared with those in the previous study, and some significant differences are discussed. To investigate the dynamic characteristics of the system, the discretized equations of motion are derived from the Galerkin method. The natural frequencies varying with the flow velocity are computed from the two cases, which one is the linear problem and the other is the linearized problem in the neighborhood of the equilibrium position. Finally, the time responses at various flow velocities are directly computed by using the generalized-$\alpha$ method. From these results, we should consider the geometric nonlinearity to analyze dynamics of a semi-circular pipe conveying fluid more precisely.

• Journal of Biomedical Engineering Research
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• v.13 no.4
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• pp.285-298
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• 1992

An analysis of the dynamics in the closing phase of the occluder of a mechanical monoleaflet heart valve prosthesis is presented. The dynamic analysis of the fluid in the vicinity of the occluder was based on the control vo]use approach. The backflow velocity of the fluid was computed by applying the continuity, Bernoulli's and momentum equations in the unsteady state. By considering the fluid pressure and gravity as external forces acting on the occluder, the moment equilibrium on fine occluder was employed to analyze the motion of the occluder during closing and the force of impact between the occluder and the guiding struts. Occluder comes to rest after several oscillations in about 10-18 msec after the Inltiaton of closing. As the aortic pressure increases, the occludes closes faster and comes to the final resting position earlier and the impact force increases also. But backflow is not af footed by the variation of the aortic pressure. With decreasing time delay of the ventricle pressure, the occluder closes faster and impact force Increases. The computed magnitudes of the occluder tiP velocities as well as the backflow of the fluid during the closing phase using this model were in agreement with previously reported experimental measurements.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1521-1542
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• 2015

The use of shape memory alloys (SMAs) in dynamical systems has an increasing importance in engineering especially due to their capacity to provide vibration reductions. In this regard, experimental tests are essential in order to show all potentialities of this kind of systems. In this work, SMA springs are incorporated in a dynamical system that consists of a one degree of freedom oscillator connected to a linear spring and a mass, which is also connected to the SMA spring. Two types of springs are investigated defining two distinct systems: a pseudoelastic and a shape memory system. The characterisation of the springs is evaluated by considering differential calorimetry scanning tests and also force-displacement tests at different temperatures. Free and forced vibration experiments are made in order to investigate the dynamical behaviour of the systems. For both systems, it is observed the capability of changing the equilibrium position due to phase transformations leading to hysteretic behaviour, or due to temperature changes which also induce phase transformations and therefore, change in stiffness. Both situations are investigated by promoting temperature changes and also pre-tension of the springs. This article shows several experimental tests that allow one to obtain a general comprehension of the dynamical behaviour of SMA systems. Results show the general thermo-mechanical behaviour of SMA dynamical systems and the obtained conclusions can be applied in distinct situations as in rotor-bearing systems.