• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.875-879
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Journal of the Korean Society of Industry Convergence
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• v.11 no.2
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• pp.71-82
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• 2008

In this study, 3 dimensional non-linear race car vehicle model including Chassis, steering and suspension systems were modeled by using Multi-Body Dynamics Simulation Program, DADS 9.5(Dynamic Analysis and Design System),which was used in kinematic and dynamic analysis. A full race car vehicle dynamics model using DADS program was presented and analysis was carried out to estimate the handling characteristics that may be very useful to design a race car in early design stage. The simulation of vehicle handling behavior for step steering input was simulated and compared with different design parameters: torsional stiffness of the front and rear anti roll bars, the motion ratio of the front and rear suspension system, the location of the tie rod joint, in multibody dynamic model. Therefore this simulation model before race car construction in early design step will be helpful for race car designer to save time and limited budget.

• Journal of Power System Engineering
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• v.15 no.6
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• pp.59-66
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• 2011

This study was carried out the experimental and the analysis for process of carburizing and quenching, evaluated the reliability of mock-up. Carburizing of comer of rock gear was higher than body regardless of condition of eight processes, and the end of gear tooth was more highly distributed than root. Hardness of surface shows the maximum value and was decreased linear to depth direction. The result of analysis wasn't nearly the heat deformation. In mock-up, tooth flank increased 0.096%, thickness of tooth decreased 0.11% and body increased 0.11%. It had no trouble with assembly and operation like this. The mock-up of recliner for automobile was secured stability by four types of test.

• Journal of Power System Engineering
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• v.21 no.2
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• pp.35-40
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• 2017

In this study, the multi-body dynamics model for a wave energy converter is established. The equations of motions for the mechanical parts of the wave energy converter are derived to analyze the dynamic behavior. A spring method with the same performance as the counter weight method is proposed. The counter weight method and spring method are analyzed for evaluating the performance of the wave energy converter. RecurDyn program which is a kind of commercial multi-body dynamics program is used to perform the dynamic simulation of the wave energy converter.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• Journal of the Korean Society of Mechanical Technology
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• v.20 no.6
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• pp.836-843
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• 2018

In this paper, dynamic model of 120mm self-propelled mortar is developed, and multi flexible body dynamics analysis is performed to analyze stresses occurring in the mount during mortar fire. For this, vehicle dynamic system, mortar dynamic system, and finite element mount model are proposed. The commercial program Recurdyn is used in the analysis. As a result of the analysis, the maximum stress(146.9MPa) occurred at the mount side plate. In order to analyze the validity of the analysis results, we performed strain measurement tests by selecting three major points, and the errors of results were 7.91%, 11.15%, and 18.23%, respectively. It is confirmed that the tendency of analysis and test is similar.

• Fashion & Textile Research Journal
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• v.13 no.5
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• pp.734-742
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• 2011

This study has been undertaken as a basic research for automatic pattern design for baseball uniforms manufactured under custom-MTM system, propose building up of a system whereby various partial patterns are combined under an automatic design system and develop a multi-combination type pattern searching algorithm which allows development of a various designs. As a result of this, type classification based on pattern design elements includes side, open, collar, facing and panel type. Design have been divided into coarse classification ranging from level 1 to 7 according to pattern design elements, based on a design distribution chart. Out of 7 such levels, 3 major types determining design which are, more specifically, level 1 sleeve type, level 2 open type and level 3 collar type, have been taken and combined to determine a total of 12 types to be used for design classification codes. Respective name of style and patterns have been coded using alphabet and numerals. Totally, pattern searching algorithm of multi-combination type has been developed whereby combination of patterns belonging to a specific style can be retrieved automatically once that style name is designated on the automatic pattern design system.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.3
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• pp.652-669
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• 2014

This paper concerns the kinematic characteristics of a coupling device in a deep-seabed mining system. This coupling device connects the buffer system and the flexible pipe. The motion of the buffer system, flexible pipe and mining robot are affected by the coupling device. So the coupling device should be considered as a major factor when this device is designed. Therefore, we find a stable kinematic device, and apply it to the design coupling device through this study. The kinematic characteristics of the coupling device are analyzed by multi-body dynamics simulation method, and finite element method. The dynamic analysis model was built in the commercial software DAFUL. The Fluid Structure Interaction (FSI) method is applied to build the deep-seabed environment. Hydrodynamic force and moment are applied in the dynamic model for the FSI method. The loads and deformation of flexible pipe are estimated for analysis results of the kinematic characteristics.

• Journal of Magnetics
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• v.22 no.2
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• pp.238-243
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• 2017

In this research, we report the preliminary results of an insertional type parallel transmission (pTx) array that has 7-elements that are placed in the space above a patient table as a transmit (Tx) coil to give an RF transmission ($B_1{^+}$) field for the body object of a 3 Tesla (T) MRI system. In previous research, we have tried to compare the performances of different coil elements and array geometries for a pTx body image. Based on these results, we attempt to obtain a human image with the proposed pTx array. Through the simulation and experimental results, we introduce a possible structure of multi-channel Tx array and verify the utility of a multi-channel Tx body image using $B_1{^+}$ shimming. The insertional pTx array, combined with a receiver (Rx) array coil, provides an enhanced $B_1{^+}$ field homogeneity in a large ROI image as a result of $B_1{^+}$ shimming applied over the full body size object. Through this research, we hope to determine the usefulness of the proposed insertional type RF coil combination for 3 T body imaging.