• 로봇학회논문지
• /
• 제2권3호
• /
• pp.234-241
• /
• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• 대한기계학회논문집A
• /
• 제26권10호
• /
• pp.1971-1981
• /
• 2002

Two-dimensional solidification analysis during rheology forming process of semi-solid aluminum alloy has been studied. Two-phase flow model to investigate the velocity field and temperature distribution is proposed. The proposed mathematical model is applied to the die shape of the two types. To calculate the velocities and temperature fields during rheology forming process, the each governing equations correspondent to the liquid and solid region are adapted. Therefore, each numerical model considering the solid and liquid coexisting region within the semi-solid material have been developed to predict the defects of rheology forming parts. The Arbitrary Boundary Maker And Cell(ABMAC) method is employed to solve the two-Phase flow model of the Navier-Stokes equation. Theoretical model basis of the two-phase flow model is the mixture rule of solid and liquid phases. This approach is based on using the liquid and solid viscosity. The Liquid viscosity is pure liquid state value, however solid viscosity is considered as a function of the shear rate, solid fraction and power law curves.

• 한국수자원학회:학술대회논문집
• /
• 한국수자원학회 2015년도 학술발표회
• /
• pp.296-296
• /
• 2015

The aim of this paper is to numerically explore the feasibility of designing a Mini-Hydro turbine. The interest for this kind of horizontal axis turbine relies on its versatility. For instance, in the field of renewable energy, this kind of turbine may be considered for different applications, such as: tidal power, run-of-the-river hydroelectricity, wave energy conversion. It is fundamental to improve the turbine performance and to decrease the equipment costs for achievement of "environmental friendly" solutions and maximization of the "cost-advantage". In the present work, the commercial CFD code ANSYS is used to perform 3D simulations, solving the incompressible Unsteady Reynolds-Averaged Navier-Stokes (U-RANS) equations discretized by means of a finite volume approach. The implicit segregated version of the solver is employed. The pressure-velocity coupling is achieved by means of the SIMPLE algorithm. The convective terms are discretized using a second order accurate upwind scheme, and pressure and viscous terms are discretized by a second-order-accurate centered scheme. A second order implicit time formulation is also used. Turbulence closure is provided by the realizable k - turbulence model. In this study, a mini hydro turbine (3kW) has been considered for utilization of horizontal axis impeller. The turbine performance and flow behavior have been evaluated by means of numerical simulations. Moreover, the performance of the impeller varied in the pressure distribution, torque, rotational speed and power generated by the different number of blades and angles. The model has been validated, comparing numerical results with available experimental data.

• Computers and Concrete
• /
• 제32권4호
• /
• pp.411-423
• /
• 2023

The rapid development of road transport has increased the number of bridges that require widening. A critical issue in the construction of bridge widening is the influence of vibrations of the old bridge on the casting of wet joint concrete between the old and new bridges owing to the running traffic. Typically, the bridge is closed to traffic during the pouring of wet joint concrete, which negatively affects the existing transportation network. In this study, a newly developed microscopic traffic load modeling approach and the vehicle-bridge interaction theory are incorporated to develop a refined numerical framework for the analysis of random traffic-bridge coupled dynamics. This framework was used to investigate traffic-induced vibrations at the wet joint of a widened bridge. Based on an experimental study on the vibration resistance of wet joint concrete, traffic control strategies were proposed to ensure the construction performance of cast-in-site wet joint concrete under random traffic without interruption. The results show that the vibration displacement and frequency of the old bridge, estimated by the proposed framework, were comparable with those obtained from field measurements. Based on the target peak particle velocity and vibration amplitude of the wet joint concrete, it was found that traffic control measures, such as limiting vehicle gross weight and limiting traffic volume by closing an additional traffic lane, could ensure the construction performance of the wet joint concrete.

• 센서학회지
• /
• 제32권6호
• /
• pp.418-424
• /
• 2023

Natural killer (NK) cells play a crucial role in combating infections and tumors. However, their therapeutic application in solid tumors is hindered by challenges, such as limited lifespan, tumor penetration, and delivery precision. Our research introduces a novel ultrasonic actuation technique to navigate NK cells more effectively in the vascular system, particularly at vessel bifurcations where targeted delivery is most problematic. We use a hemispherical ultrasonic transducer array that generates phase-modulated traveling waves, focusing on an ultrasound beam to steer NK cells using blood-flow dynamics and a focused acoustic field. This method enables the precise obstruction of non-target vessels and efficiently directs NK cells toward the tumor site. The simulation results offer insights into the behavior of NK cells under various conditions of cell size, radiation pressure, and fluid velocity, which inform the optimization of their trajectories and increase targeting efficiency. The experimental results demonstrate the feasibility of this ultrasonic approach for enhancing NK cell targeting, suggesting a potential leap forward in solid tumor immunotherapy. This study represents a significant step in NK cell therapeutic strategies, offering a viable solution to the existing limitations and promising enhancement of the efficacy of cancer treatments.

• Smart Structures and Systems
• /
• 제32권4호
• /
• pp.195-205
• /
• 2023

The contact acoustic emission (AE) monitoring system is time-consuming and costly for monitoring concrete structures in large scope, in addition, the great difference in acoustic impedance between air and concrete makes the detection process inconvenient. In this work, we broaden the conventional AE source localization method for concrete to the non-contact (air-coupled) micro-electromechanical system (MEMS) microphones array, which collects the energy-rich leaky Rayleigh waves, instead of the relatively weak P-wave. Finite element method was used for the numerical simulations, it is shown that the propagation velocity of leaky Rayleigh waves traveling along the air-concrete interface agrees with the corresponding theoretical properties of Lamb wave modes in an infinite concrete slab. This structures the basis for implementing a non-contact AE source location approach. Based on the experience gained from numerical studies, experimental studies on the proposed air-coupled AE source location in concrete slabs are carried out. Finally, it is shown that the locating map of AE source can be determined using the proposed system, and the accuracy is sufficient for most field monitoring applications on large plate-like concrete structures, such as tunnel lining and bridge deck.

• 한국전산유체공학회지
• /
• 제20권2호
• /
• pp.23-36
• /
• 2015

The $2^{nd}$ generation ice accretion analysis program has been developed and validated for various icing conditions. The essential feature of the $2^{nd}$ generation code lies in its capability of handling general 3-D geometry and improved accuracy. The entire velocity fields are obtained based on Navier-Stokes equations in order to take the massively separated flow field into account. Unlike $1^{st}$ generation code, the droplet trajectories are calculated using Eulerian approach, which is adopted to yield appropriate collection efficiency even in the shadow region. For improved thermodynamic analysis on the surfaces, water film model and modified Messinger model are newly included in the present analysis. The ice shape for a given time step is obtained by considering the exact amount of ice accreted on the surface. Each module of the icing analysis code has been seamlessly integrated on the OpenFOAM platform. The developed code was validated against available experimental data for 2D airfoils and 3D DLR-F4. Due to the lack of experimental data, the computed results of DLR-F4 were compared with those obtained from FENSAP-ICE, which is state-of-the-art 3D icing analysis code. It was clearly shown that the present code produces comparable results to those of FENSAP-ICE, in terms of prediction accuracy and the capability of handling general 3-D geometries.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 추계학술대회논문집B
• /
• pp.499-504
• /
• 2001

A validation of a 3D CFD model for predicting local subcooling of moderator in the vicinity of calandria tubes in a CANDU reactor is performed. The small scale moderator experiments performed at Sheridan Park Experimental Laboratory(SPEL) in Ontario, Canada[1] is used for the validation. Also a comparison is made between previous CFD analyses based on 2DMOTH and PHOENICS, and the current model analysis for the same SPEL experiment. For the current model, a set of grid structures for the same geometry as the experimental test section is generated and the momentum, heat and continuity equations are solved by CFX-4.3, a CFD code developed by AEA technology. The matrix of calandria tubes is simplified by the porous media approach. The standard $k-\varepsilon$ turbulence model associated with logarithmic wall treatment and SIMPLEC algorithm on the body fitted grid are used and buoyancy effects are accounted for by the Boussinesq approximation. For the test conditions simulated in this study, the flow pattern identified is a buoyancy-dominated flow, which is generated by the interaction between the dominant buoyancy force by heating and inertial momentum forces by the inlet jets. As a result, the current CFD moderator analysis model predicts the moderator temperature reasonably, and the maximum error against the experimental data is kept at less than $2.0^{\circ}C$ over the whole domain. The simulated velocity field matches with the visualization of SPEL experiments quite well.

• International Journal of Fluid Machinery and Systems
• /
• 제2권4호
• /
• pp.353-362
• /
• 2009

In the process of turbine modernizations, the investigation of the influences of water passage roughness on radial flow machine performance is crucial and validates the efficiency step up between reduced scale model and prototype. This study presents the specific losses per component of a Francis turbine, which are estimated by CFD simulation. Simulations are performed for different water passage surface roughness heights, which represents the equivalent sand grain roughness height. As a result, the boundary layer logarithmic velocity profile still exists for rough walls, but moves closer to the wall. Consequently, the wall friction depends not only on roughness height but also on its shape and distribution. The specific losses are determined by CFD numerical simulations for each component of the prototype, taking into account its own specific sand grain roughness height. The model efficiency step up between reduced scale model and prototype value is finally computed by the assessment of specific losses on prototype and by evaluating specific losses for a reduced scale model with smooth walls. Furthermore, surveys of rough walls of each component were performed during the geometry recovery on the prototype and comparisons are made with experimental data from the EPFL Laboratory for Hydraulic Machines reduced scale model measurements. This study underlines that if rough walls are considered, the CFD approach estimates well the local friction loss coefficient. It is clear that by considering sand grain roughness heights in CFD simulations, its forms a significant part of the global performance estimation. The availability of the efficiency field measurements provides an unique opportunity to assess the CFD method in view of a systematic approach for turbine modernization step up evaluation. Moreover, this paper states that CFD is a very promising tool for future evaluation of turbine performance transposition from the scale model to the prototype.

• 대한조선학회논문집
• /
• 제54권3호
• /
• pp.215-226
• /
• 2017

This paper presents numerical results of the performance of a marin propeller in cavitating and non-cavitating flow conditions. The geometry and experimental validation data of the propeller are provided in Potsdam Propeller Test Case(PPTC) in the framework of the second International Symposium on Marine Propulsors 2011(SMP'11) workshop. The PPTC includes open water tests, velocity field measurements and cavitation tests. The present numerical analysis was carried out by using the Reynolds averaged Navier-Stokes(RANS) method on a wall-resolved grid ensuring a y+=1, where the SST k-${\omega}$ model was mainly used for turbulence closure. The influence of the turbulence model was investigated in the prediction of the wake field under a non-cavitating flow condition. The propeller tip vortex flows in both cavitating and non-cavitating conditions were captured through adaptation of additional grids. For the cavitation flows at three operation points, Schnerr-Sauer's cavitation model was used with a Volume-Of Fluid(VOF) approach to capture the two-phase flows. The present numerical results for the propeller wake and cavitation predictions including the open water performance showed a qualitatively reasonable agreement with the model test results.