• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.225-228
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• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.103-108
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• 2010

This article presents computational fluid dynamics (CFD) simulations of nanoparticle movements and flow characteristics in laboratory-scale electrostatic precipitator (ESP) without corona discharge, and for simulation, it uses the commercial CFD program(CFD-ACE) including electrostatic theory and Lagrangian-based equation for nanoparticle movement. For validation of CFD results, a simple cylindrical type of ESP is simulated and numerical prediction shows fairly good agreement with the analytical solution. In particular, the present study investigates the effect of particle diameter, inlet flow rate, and applied electric potential on particle collection efficiency and compares the numerical prediction with the experimental data, showing good agreement. It is found that the particle collection efficiency decreases with increasing inlet flow rate because the particle detention time becomes shorter, whereas it decreases with the increase in nanoparticle diameter and with the decrease of applied electric voltage resulting from smaller terminal electrostatic velocity.

• 대한기계학회논문집B
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• 제31권5호
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• pp.416-424
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• 2007

In adsorption/catalytic process, numerical analysis has been performed to identify the flow characteristics of flue gas in the cyclone and to estimate the residence time of activated carbon using Computational Fluid Dynamics (CFD) technique. To consider flue gas and activated carbon particles simultaneously, Euler-Lagrangian model was employed so that residence time could be obtained from the numerical analysis directly. The numerical analysis has been performed with different three particle sizes and compared each flow characteristics with particle’ size. Fundamental flow patterns of flue gas and activated carbon particles, pressure distribution, residence time of flue gas, and activated carbon particles and distribution of activated carbon have been obtained from the numerical analysis.

• Wind and Structures
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• 제18권3호
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• pp.215-233
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• 2014

This paper presents a method to extract flutter derivatives of bridge decks based on a combination of the computational fluid dynamics (CFD), system simulations and system identifications. The incompressible solver adopts an Arbitrary Lagrangian-Eulerian (ALE) formulation with the finite volume discretization in space. The imposed sectional motion in heaving or pitching relies on exponential time series as input, with aerodynamic forces time histories acting on the section evaluated as output. System identifications are carried out to fit coefficients of the inputs and outputs of ARMA models, as to establish discrete-time aerodynamic models. System simulations of the established models are then performed as to obtain the lift and moment exerting on the sections to a sinusoidal displacement. It follows that flutter derivatives are identified. The present approaches are applied to a hexagon thin plate and a real bridge deck. The results are compared to the Theodorsen closed-form solution and those from wind tunnel tests. Satisfactory agreements are observed.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.78-85
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• 2011

The Vortex-In-Cell(VIC) method combined with panel method is applied to the analysis of incompressible unsteady viscous flow. The dynamics of resulting flow is governed by the vorticity transport equation in Lagrangian form with vortex particle representation of the flow field. A regular grid which is independent to the shape of a body is used for numerical evaluation based on immersed boundary technique. With an introduction of this approach, the development and validation of the VIC method is presented with some computational results for incompressible viscous flow around two or three dimensional bodies such as wing section, sphere, finite wing and marine propeller.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.483-487
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• 2011

In the present study, a CFD program based on a finite volume method was developed by using an unstructured polyhedral grid system for the accurate simulation with the complex geometry of computational domain. To simulate the transient flow induced by the moving solid object, the program used a fractional step method and a ALE (Algebric Lagrangian-Eulerian) method. The grid deformation for the moving of solid object were performed with a spring analogy based on the center coordinate of each computational grid. To verify the present program with these methodologies, the numerical results of the flow around the fixed and oscillating circular cylinder were compared with the previous numerical results.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.415-419
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• 2008

In this study, analysis of water mist behavior is performed using numerical simulation. Water mist is characterized by the droplet flow which is one of the multiphase flows and is discrete fluid droplets in continuous air. It is important to choose the proper diameter of droplet-size and the distance between the fire location and the position of water mist because it depends on the buoyancy from fire. Therefore the behavior of water mist with fire should be simulated by FLUENT, a commercial computational fluid dynamics(CFD) program, with Lagrangian discrete phase model. (DPM)

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.391-395
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• 1996

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H$_{\infty}$ control theory, which has inherent robustness to model uncertainties and external disturbances, is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.

• 한국자동차공학회논문집
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• 제4권3호
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• pp.130-138
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• 1996

The transient incompressible flow behind the widely-spaced co-axial jet is numerically simulated using the random vortex method(RVM). This numerical approach is based on the Lagrangian approach for the vorticity formulation of the unsteady Navier-Stokes equations, utilizing vortex elements to account for the convection and diffusion processes. The effects of the mass flow rate of an annular air jet and a central fuel jet on the co-axial jet flow dynamics is investigated. To validate the present procedure, the numerical results are compared with the available experimental data the present procedure, the numerical results are compared with the available experimental data in terms of the centerline and off-centerline profiles of the mean axial velocity. Discrepancies between the RVM results and the measurements are discussed in detail.

• 한국자동차공학회논문집
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• 제9권4호
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• pp.18-26
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• 2001

OSKA engine was developed to remove the dense core of injection sprays. The engine uses impinging spray on a small pip, which spray after impinging is broken into smaller drops and disperses into fee space in chamber. In this paper the pip size is analyzed to give more dispersion of spray and fuel vapor. The gas phase is modelled by the Eulerian continuum conservation equations of mass, momentum, energy and fuel vapour fraction. The liquid phase is modelled following the discrete droplet model approach in Lagrangian form, and the droplet wall interaction is modelled as a function of the velocity normal to impaction lands. The droplet distributions, vapor fractions and gas flows are analyzed for various injection pressure cases. Numerical results indicate that the land diameter of 5.6mm has the best performance of spray dynamics and vaporization in the test sizes.