• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.198-203
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• 2000

In this paper, a numerical analysis is carried out to show the effect of friction farce on the dynamic characteristics of a flow divider valve. The continuity equations and the equation of motion fur spool are numerically solved. The viscous friction force acting on the spool is considered analyzing the Reynolds equation which governs the viscous flow in the clearance gap between the spool and sleeve. Dynamic characteristics are highly affected by the viscous friction farce whose magnitude is relatively small compare with other fluid forces. Therefore present theoretical formulation and numerical scheme can be used generally in designing and performance evaluation of all the hydraulic spool valve.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.151-154
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• 2005

Tilting train improves a traveling velocity through giving a tilt the car-body without ride comfort deterioration In curve. Dynamic behavior in deceleration will show quite another feature in constant velocity, In this study, we see through the dynamic behavior due to a variation of braking force in Korean Tilting Train. Hence we compose of 3D dynamic model, as well as we check upon the property in service braking condition and unique braking condition with a fault system. This study has the meaning with reference data of developing Korean Tilting Train test traveling.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.520-528
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• 2005

In this study, a new mathematical dynamic model of displacement sensitive shock absorber (DSSA) is proposed to predict the dynamic characteristics of automotive shock absorber. The performance of shock absorber is directly related to the vehicle behaviors and performance, both for handling and ride comfort. The proposed model of the DSSA has two modes of damping force (i.e. soft and hard) according to the position of piston. In this paper, the performance of the DSSA is analyzed by considering the transient zone for more exact dynamic characteristics. For the mathematical modeling of DSSA, flow continuity equations at the compression and rebound chamber are formulated. And the flow equations at the compression and rebound stroke are formulated, respectively. Also, the flow analysis at the reservoir chamber is carried out. Accordingly, the damping force of the shock absorber is determined by the forces acting on the both side of piston. The analytic result of damping force characteristics are compared with the experimental results to prove the effectiveness. Especially, the effects of displacement sensitive orifice area and the effects of displacement sensitive orifice length on the damping force are observed, respectively. The results reported herein will provide a better understanding of the shock absorber.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 대한공업교육학회지
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• v.30 no.2
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• pp.115-122
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• 2005

For an analysis of dynamic behavior in carbon nanotube(CNT) which is widely used as micro and nano-sensors, an electrostatic force of CNT was investigated. For larger gaps in between sensor and electrode the van der Waals force can be ignored. The boundary condition in the CNT was assumed to clamped-clamped case at both ends. In this paper electrostatic force is expressed as linear equation along deflection using Taylor series. The first and second terms(${\zeta}_0$ and ${\zeta}_1$) of the linear equation are analyzed. Based on the simulation results nondimensional number ${\Phi}_0$ and ${\Phi}_1$ which came from ${\zeta}_0$ and ${\zeta}_1$ were decreased according to the increment of the gap. Reduction ratio of the second term ${\zeta}_1$ is increased up to 99% along to the increment of the gap. The higher order terms can be ignored and therefore, electrostatic force can be expressed using the first two terms of the linear equation. This results play an important role in analyzing the nonlinear dynamic behavior of the CNT as well as the pull-in voltage of simply supported switches.

• Structural Engineering and Mechanics
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• v.53 no.2
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• pp.261-276
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• 2015

Structural damage and moving load identification are the two aspects of structural system identification. However, they universally coexist in the damaged structures subject to unknown moving load. This paper proposed a dynamic response sensitivity-based model updating method to simultaneously identify the structural damage and moving force. The moving force which is equivalent as the nodal force of the structure can be expressed as a series of orthogonal polynomial. Based on the system Markov parameters by the state space method, the dynamic response and the dynamic response derivatives with respect to the force parameters and elemental variations are analytically derived. Afterwards, the damage and force parameters are obtained by minimizing the difference between measured and analytical response in the sensitivity-based updating procedure. A numerical example for a simply supported beam under the moving load is employed to verify the accuracy of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.478-487
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• 1991

In this study, dynamic stability of discontinuous free Timoshenko beam, barring a concentrated mass, under constant follower force is considered. Governing differential equations are derived based on the extended Hamilton's principle and finite element method is applied for numerical analysis. Conclusions of the study are as follows : (1) Without force direction control, (i) the critical follower force at instability is increased with concentrated mass regardless of discontinuity. (ii) the minimum critical follower force is located in the vicinity of discontinuity position .xi.$_{d}$=0.75. (iii) at mass location .mu. .leq.0.5 the force at instability is decreased as magnitude of concentrated mass is increased but, at .mu. .geq. 0.5 the force is increased as the mass is increased. (2) With force direction control, (i) shear deformation parameter S contributes insignificantly to the force at instability when S>10$^{[-993]}$ (ii) maximum critical follower force can be obtained for the discontinuity location .xi.$_{d}$=0.25. (iii) the critical follower force is increased as magnitude of concentrated mass .alpha. is increased at mass location .mu. .geq.0.4, but is increased, .mu ..leq.0.4.4.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.105-111
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• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.537-543
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• 2003

This paper presents the improved procedure to assess static and dynamic strength of crawler type excavators. A fully integrated model including front attachment and chassis was prepared for structural analysis. In this paper, two types of loading input methods were investigated and the method imposing digging force directly on bucket tooth was more convenient than imposing cylinder reaction force on cylinder pin even if the two methods showed no discrepancy in analysis results. Static strength analysis was carried out for eight analysis scenarios based on two extreme digging positions, maximum digging reach position and maximum digging force positions. The results from static strength analysis were compared with measured stresses, cylinder pressures and digging forces and showed a good quantitative agreement with measured data. Dynamic strength analysis was carried out for simple reciprocation of boom cylinders. It was recognized that the effect of compressive stiffness of hydraulic oil was very important for dynamic structural behavior. The results from dynamic strength analysis including hydraulic oil stiffness were also compared with measured acceleration data and showed a qualitative agreement with measured data.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.118-125
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• 1999

In the grinding process, generally, the exciting forces with high frequency can be generated due to the wheel wear and the grinding process. As the grinding speed increases, the precise investigation about the wheel dynamic characteristics is required. Conventionally the wheel-spindle has been considered with lumped model in dynamic modeling. With this lumped model, the significant mode resulted from the shell mode of wheel can be readily ignored. This paper suggests the new analysis model which includes the shell mode of wheel in modeling the wheel-spindle assembly. Furthermore, based on the suggested model, the effects of the bolt tightening force and the taper tightening force on the dynamic properties are investigated by the finite element modal analysis and the experimental method. As a result of investigation, the shell mode vibration of wheel affects the dynamic characteristics of the spindle assembly. Also, the vibration modes of the spindle assembly are significantly affected by the joint tightening forces.