• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.15 no.2
• /
• pp.125-130
• /
• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• Journal of KSNVE
• /
• v.8 no.4
• /
• pp.616-622
• /
• 1998

An analytical method has been developed to estimate the dynamic contact force between wheel and rail when trains are running on rail with vertical irregularities. In this method, the effect of Hertzian deformation at the contact point is considered as a linearized spring and the wheel is considered as an sprung mass. The rail is modelled as a discretely-supported Timoshenko beam, and the periodic structure theory was adopted to obtain the driving-point receptance. As an example, the dynamic contact force for a typical wheel/rail system was analysed by the method developed in this research and the dynamic characteristics of the system was also discussed. It is revealed that discretely-supported Timoshenko beam model should be used instead of the previously used continuously-supported model or discretelysupported Euler beam model, for the frequency range above several hundred hertz.

• Journal of the Korean Geophysical Society
• /
• v.7 no.2
• /
• pp.121-134
• /
• 2004

This study has tried to develop the modified DRASTIC Model by supplying the parameters, such as structural lineament density and land-use, into conventional DRASTIC model, and to predict the potential of groundwater contamination using GIS in Hwanam 2 District, Gyeonggi Province, Korea. Since the aquifers in Korea is generally through the joints of rock-mass in hydrogeological environment, lineament density affects to the behavior of groundwater and contaminated plumes directly, and land-use reflect the effect of point or non-point source of contamination indirectly. For the statistical analysis, lattice-layers of each parameter were generated, and then level of confidence was assessed by analyzing each correlation coefficient. Groundwater contamination potential map was achieved as a final result by comparing modified DRASTIC potential and the amount of pollutant load logically. The result suggest the predictability of contamination potential in a specified area in the respects of hydrogeological aspect and water quality.

• Environmental Engineering Research
• /
• v.12 no.4
• /
• pp.176-193
• /
• 2007

The ability to measure groundwater contaminant flux is increasingly being recognized as crucial in order to prioritize contaminated site cleanups, estimate the efficiency of remediation technologies, measure rates of natural attenuation, and apply proper source terms to model groundwater contaminant transport. Recently, a number of methods have been developed and subsequently applied to measure contaminant mass flux in groundwater in the field. Flux measurement methods can be categorized as either point methods or integral methods. As the name suggests, point methods measure flux at a specific point or points in the subsurface. To increase confidence in the accuracy of the measurement, it is necessary to increase the number of points (and therefore, the cost) of the sampling network. Integral methods avoid this disadvantage by using pumping wells to interrogate large volumes of the subsurface. Unfortunately, integral methods are expensive because they require that large volumes of contaminated water be extracted and managed. Recent work has investigated the development of an integral method that does not require extraction of contaminated water from the subsurface. We begin with a review of the significance and importance of measuring groundwater contaminant mass flux. We then review groundwater contaminant flux measurement methods that are either currently in use or under development. Finally, we conclude with a qualitative comparison of the various flux measurement methods.

• Structural Engineering and Mechanics
• /
• v.57 no.6
• /
• pp.989-1014
• /
• 2016

This paper deals with the analysis of the natural frequencies, mode shapes of an axially loaded beam system carrying ends consisting of non-concentrated tip masses and three spring-two mass sub-systems. The influence of system design and sub-system parameters on the combined system characteristics is the major part of this investigation. The effect of material properties, rotary inertia and shear deformation of the beam system is included. The end masses are elastically supported against rotation and translation at an offset point from the point of attachment. Sub-systems are attached to center of gravity eccentric points out of the beam span. The boundary conditions of the ordinary differential equation governing the lateral deflections and slope due to bending of the beam system including developed shear force frequency dependent terms, due to the sub.system suspension, have been formulated. Exact formulae for the modal frequencies and the modal shapes have been derived. Based on these formulae, detailed parametric studies are carried out. The geometrical and mechanical parameters of the system under study have been presented in non-dimensional analysis. The applied mathematical model is presented to cover wide range of mechanical, naval and structural engineering applications.

• Journal of Energy Engineering
• /
• v.18 no.3
• /
• pp.203-211
• /
• 2009

Vapor pressure of HFC-404a and polyol ester system were measured at 56 points from 263.15 to 323.15 K and from 0 to 90 mass %polyol ester. It was found that below 273.15 K, the effect of the polyol ester on the vapor pressure was negligible up to 30 mass % polyol ester. The vapor pressure of the system significantly decreased as the mass fraction of polyol ester increased over 50 percent. Raoult's model and Flory-Huggins model were tested for data reduction. Empirical vapor pressure equations were obtained in terms of temperature and mass fraction of polyol ester.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
• /
• 2002.11a
• /
• pp.85-96
• /
• 2002

Entering the period of Mass Customization, and with the help of the Digital Textile Printing technology, the purpose of this study is to propose two customer involved design process models, based on the Digital Textile Printing technology, and to compare their efficiencies and appropriateness with those of the existing design process model, which would lead us to discover the possibilities of Mass Customized design process. By the result obtained from the survey of 166 females in their twenties and thirties, the second Mass Customized design process model which gave most choices to prosumers was preferred the most, while the existing design process which gave no choice seemed to be preferred the least, and among the design elements of textile, color appeared to be the most significant influential factor in the preference of the clothing by the consumers. In summary, it appeared that every aspect of the society requires a shift in the process of the thought from Mass Production to Mass Customization at this point, and a guideline was made from the Mass Customized design process suggested in this study.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.22 no.7
• /
• pp.379-390
• /
• 2018

In this study, a numerical approach based on mid-point integrated finite elements and a viscous boundary is proposed for time-domain wave-propagation analyses in infinite poroelastic media. The proposed approach is accurate, efficient, and easy to implement in time-domain analyses. In the approach, an infinite domain is truncated at some distance. The truncated domain is represented by mid-point integrated finite elements with real element-lengths and a viscous boundary is attached to the end of the domain. Given that the dynamic behaviors of the proposed model can be expressed in terms of mass, damping, and stiffness matrices only, it can be implemented easily in the displacement-based finite-element formulation. No convolutional operations are required for time-domain calculations because the coefficient matrices are constant. The proposed numerical approach is applied to typical wave-propagation and soil-structure interaction problems. The model is verified to produce accurate and stable results. It is demonstrated that the numerical approach can be applied successfully to nonlinear soil-structure interaction problems.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.7
• /
• pp.661-668
• /
• 2009

The slosh natural frequencies, damping ratio, slosh mass and slosh force applying point of the liquid in cylindrical tank are estimated using the nonlinear least squares method in time domain. The estimated slosh model parameters are in good agreement with the results of the theoretical calculations for various liquid depths. Furthermore, this methodology will be applied to predict the sloshing parameters for a liquid propellant tank using ground experimental test-bed.

• 한국신재생에너지학회:학술대회논문집
• /
• 2008.05a
• /
• pp.33-36
• /
• 2008

The transient behavior of a passive air breathing direct methanol fuel cell (DMFC) operated on vapor-feeding mode is studied in this paper. It generally takes 30 minutes after starting for the cell response to come to its steady-state and the response is sometimes unstable. A mathematical dynamic one-dimensional model for simulating transient response of the DMFC is presented. In this model a DMFC is decomposed into its subsystems using lumped model and divided into five layers, namely the anodic diffusion layer, the anodic catalyst layer, the proton exchange membrane (PEM), the cathodic catalyst layer and the cathodic diffusion layer. All layers are considered to have finite thickness, and within every one of them a set of differential-algebraic governing equations are given to represent multi-components mass balance, such as methanol, water, oxygen and carbon dioxide, charge balance, the electrochemical reaction and mass transport phenomena. A one-dimensional, isothermal and mass transport model is developed that captures the coupling between water generation and transport, oxygen consumption and natural convection. The single cell is supplied by pure methanol vapor from a methanol reservoir at the anode, and the oxygen is supplied via natural air-breathing at the cathode. The water is not supplied from external source because the cell uses the water created at the cathode using water back diffusion through nafion membrane. As a result of simulation strong effects of water transport were found out. The model analysis provides several conclusions. The performance drop after peak point is caused by insufficiency of water at the anode. The excess water at the cathode makes performance recovery impossible. The undesired crossover of the reactant methanol through the PEM causes overpotential at the cathode and limits the feeding methanol concentration.