• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.302-305
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• 2003

In this paper, dynamic behaviors of a small-sized flying robot with 4 rotors propelled by DC motor are discussed, and a control scheme based on the dynamic model to make stable flying motions, i.e., hovering, take-off, cruising behavior, etc. is proposed. The experimental results via some flying tests show good performances for practical use. The flying robot with 6DOF is controlled only 4 DOF, and the rest of two DOF are remained under the dynamic constraints. How to give the stability of all positions and orientations and to make the omni-directional motions in spite of such restrictions is analyzed. The proposed control scheme composes of two stages. First, PD control inputs for the trust-force and orientation are calculated, next the control inputs are distributed to each rotor by using a sort of Jacobian matrix. To design and control of a low cost - small sized flying robot, vibrated gyro sensor, cheap accelerometer, IR, and ultra sonic sensors are selected.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.713-719
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• 2012

This paper is concerned with the dynamic modeling for the hardware-in-the-loop simulation of lateral vibrations of a railway vehicle. The resulting dynamic model is a nine degree-of-freedom model which can describe the lateral, roll and yaw motions of the car body and two bogies. It is assumed that the external disturbances come from wheel motions. In order to test the efficacy of the model, the linear quadratic regulator and the sky-hook control algorithm were designed and applied to the model. The simulation results show that both control algorithms are effective in suppressing the vibrations of railway vehicles.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.7
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• pp.634-641
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• 2012

This paper is concerned with the dynamic modeling for the hardware-in-the-loop simulation of lateral vibrations of a railway vehicle. The resulting dynamic model is a nine degree-of-freedom model which can describe the lateral, roll and yaw motions of the car body and two bogies. It is assumed that the external disturbances come from wheel motions. In order to test the efficacy of the model, the linear quadratic regulator and the sky-hook control algorithm were designed and applied to the model. The simulation results show that both control algorithms are effective in suppressing the vibrations of railway vehicles.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.10a
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• pp.47-54
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• 2003

The rotating of rotatory unit with its structural unbalance mass and laundry is making the main vibration problem in a vertical axis washing machine. For reducing vibration problem total washing system hung on the case by its suspension system which is constitute of spring, damper and suspension bar and hydraulic balancer is attached at the upper rim of spin basket. In this paper, we make the dynamic model of washing system of its rigid body motions by 6 degree of freedoms. Hydraulic balancer is modeled by one degree of freedom like auto ball balancer. Elastic motions of washing system have found by method of analytic, experimental and FEM. And we consider first bending mode of each suspension bar and first circumferential mode of assy tub. So, the total washing system is modeled by 12 degree of freedoms. Equations of motion for total washing system have derived, and we perform the dynamic simulation tests.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.1
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• pp.115-120
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• 2011

The dynamic responses of a 5 MW wind turbine lifted by a floating crane with two elastic booms are analyzed. Dynamic equations of motions of a multibody system that consists of a floating crane, two elastic booms, and a wind turbine are derived. The six-degree-of-freedom (DOF) motions for the floating crane and the wind turbine are considered in the equations of motions. The hydrostatic force, the hydrodynamic force due to a regular wave, the mooring force, the wire rope force, and the gravitational force are considered as external forces. By solving the equations numerically, the dynamic responses of cargo are simulated. The simulation results are compared with those in the case of one elastic boom. Finally, the dynamic responses of the wind turbine lifted by the floating crane are analyzed under regular wave condition.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.10 no.2
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• pp.64-72
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• 1998

Dynamic response analysis is carried out for slender marine structures such as tensioned risers and tethers of tension leg platform, which are subjected to floating vessel motions as well as environmental forces arising from ocean waves. A mumerical analysis procedure is developed by using finite element model of the structural member. Dynamic analses are performed in the time domain for regular waves. Parameter studies are carried out to highlight the effects of surface vessel motions on the lateral dynamics of the structures. Example results of displacements, bending stresses are compared for various in water depth, environmental condition and vessel motion. Some instability conditions of the structures due to time-varying tension by vessel heave motion are discussed through the example analyses. As the results, the interaction between vessel surge and heave motions amplifies the total structural response of a riser. In the case of a tether, the effect of vessel heave motion during heavy storm is seemed to be quite significant to lateral response of the structure.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.277-283
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• 2005

Inelastic model of Second Jindo Bridge is investigated to perform nonlinear dynamic analyses with various earthquake ground motions. The modal analysis is performed to obtain dynamic characteristics of the bridge and verify the model. It proves that the model has an appropriate dynamic characteristic and its natural frequency is relatively low. Four ground motions are chosen for time history dynamic analyses; El Centro, Kobe, Taft, and Mexico earthquake. Each ground motion multiplied by specified factors to investigate damages of the structure. The analyses prove that responses of the bridge depend on the duration time and the frequency characteristics of ground motion, not only peak acceleration. Static push-over analysis of steel pylon shows that the dynamic analysis over-estimates the seismic behavior of steel pylon definitely. Nonlinear spring hinge model is suggest to improve the shortage of the inelastic model could not deliberate local buckling damage. According to the time history analysis of nonlinear spring hinge model, it is proved that the inelastic beam element analysis overestimate the seismic capacity of steel pylon unquestionably with a large amount of errors.

• Earthquakes and Structures
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• v.18 no.1
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• pp.1-14
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• 2020

The vehicle-bridge interaction (VBI) analysis might be cumbersome and computationally expensive in bridge engineering due to the necessity of solving large number of coupled system of equations. However, VBI analysis can provide valuable insights into the dynamic behavior of highway bridges under specific loading conditions. Hence, this paper presents a numerical study on the dynamic behavior of a conventional highway bridge under strong near-field and far-field earthquake motions considering the VBI effects. A recursive substructuring method, which enables solving bridge and vehicle equations of motion separately and suitable to be adapted to general purpose finite element softwares, was used. A thorough analysis that provides valuable information about the effect of various traffic conditions, vehicle velocity, road roughness and effect of soil conditions under far-field and near-field strong earthquake motions has been presented. A real-life concrete highway bridge was chosen for numerical demonstrations. In addition, sprung mass models of vehicles consist of conventional truck and car models were created using physical and dynamic properties adopted from literature. Various scenarios, of which the results may help to highlight the different aspects of the dynamic response of concrete highway bridges under strong earthquakes, have been considered.

• Ocean Systems Engineering
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• v.1 no.1
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• pp.95-111
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• 2011

Increasing numbers of floating offshore wind turbines are planned and designed these days due to their high potential in massive generation of clean energy from water depth deeper than 50 m. In the present study, a numerical prediction tool has been developed for the fully-coupled dynamic analysis of FOWTs in time domain including aero-blade-tower dynamics and control, mooring dynamics, and platform motions. In particular, the focus of the present study is paid to the dynamic coupling between the rotor and floater and the coupled case is compared against the uncoupled case so that their dynamic coupling effects can be identified. For this purpose, a mono-column mini TLP with 1.5MW turbine for 80m water depth is selected as an example. The time histories and spectra of the FOWT motions and accelerations as well as tether top-tensions are presented for the given collinear wind-wave condition. When compared with the uncoupled analysis, both standard deviations and maximum values of the floater-responses/tower-accelerations and tether tensions are appreciably increased as a result of the rotor-floater dynamic coupling, which may influence the overall design including fatigue-life estimation especially when larger blades are to be used.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.792-795
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• 2007

To quantify irregular body motions the time series analysis was applied to the gait study. The motions obtained from gait experiment are complex to exhibit nonlinear behaviors. The purpose of this study is to measure quantitatively the characteristics of the major six joints of the body during walking. The gait experiments were carried out for eighteen young males walking on a motor driven treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The largest Lyapunov exponent was calculated from the time series to quantify stabilities of each joint. The results provides a data set of nonlinear dynamic characteristics for six joints engaged in normal walking.