• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.312-319
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• 2005

For real time dynamic simulation, two different subsystem synthesis methods with independent generalized coordinates have been developed and compared. In each formulation, the subsystem equations of motion are generated in terms of independent generalized coordinates. The first formulation is based on the relative Cartesian coordinates with respect to moving subsystem base body. The second formulation is based on the relative joint coordinates using recursive formulation. Computational efficiency of the formulations has been compared theoretically by the arithmetic operational counts. In order to verify real-time capability of the formulations, bump run simulations of a quarter car model with SLA suspension subsystem have been carried out to measure the actual CPU time.

• Structural Engineering and Mechanics
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• v.86 no.2
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• pp.157-165
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• 2023

In the present work, the vibration characteristics of sandwich nanocomposite shells, fortified with graphene platelets (GPLs) have been researched. The shell has been considered as the stadium roof shape with double curvatures under vibration due to earthquake. The nanocomposite has the matrix of concrete which is fortified with uniform or linear dispersions of GPLs. Also, the core possesses cellular type square architecture for which the effective elastic modulus has been defined in the context of relative density based relations. Based upon the classic shell strains containing two identical curvatures, the governing equations have been established and solved through differential quadrature approach. It will be seen that the vibrational frequencies rely on the core relative density, height of layers, the amount and dispersions of GPLs and even shell geometric parameters.

• Journal of Digital Convergence
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• v.16 no.7
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• pp.259-265
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• 2018

Compartment models, a type of mathematical model, have been widely applied to characterize the changes in a dynamic system with sequential events or processes, such as the spread of an epidemic disease. A compartment model comprises compartments, and the relations between compartments are depicted as boxes and arrows. This principle is similar to that of the system dynamics (SD) approach to constructing a simulation model with stocks and flows. In addition, both models are structured using differential equations. With this mutual and translatable principle, this study, in terms of SD, translates a reference SEIR model, which was developed in a recent study to characterize the transmission of the Middle East respiratory syndrome (MERS) in South Korea. Compared to the replicated result of the reference SEIR model (Model 1), the translated SEIR model (Model 2) demonstrates the same simulation result (error=0). The results of this study provide insight into the application of SD relative to constructing an epidemic compartment model using schematization and differential equations. The translated SD artifact can be used as a reference model for other epidemic diseases.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.4
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• pp.232-239
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• 2013

This paper provides the structure of a Reynolds Averaged Navier-Stokes(RANS) based simulation method and its validation results for the ship motion problem. The motion information of the hull computed from the equations of motion is considered in the momentum equations as the relative fluid motions with respect to a non-inertial coordinates system. A finite volume method is used to solve the governing equations, while the free surface is captured by using a two-phase level-set method and the realizable k-${\varepsilon}$ model is used for turbulence closure. For the validation of the present numerical approach, the numerical results of the resistance and motion tests for DTMB 5415 at two ship speeds are compared against available experimental data.

• Bulletin of the Korean Chemical Society
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• v.31 no.2
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• pp.315-326
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• 2010

This study examined the overlapping resonances in the systems involving 1 open and 2 closed channels using the phase-shifted version of multichannel quantum-defect theory (MQDT). The results showed that 21 patterns for the q reversals in the autoionization spectra are possible depending on the relative arrangements of the two simple poles and roots of the quadratic equations. Complete cases could be generated easily using the q zero planes determined using only 3 asymmetric spectral line profile indices. The transition of the spectra of the coarse interloper Rydberg series from the lines into a structured continuum by being dispersed onto the entire Rydberg series was found. The overall behavior of the time delays was found to be governed by the dense Rydberg series, which is quite different from the one of the autoionization cross sections that is governed by an interloper, indicating that different dynamics prevail for them. This is in contrast to the two channel system where both quantities behave similarly. The dynamics obtained in the presence of overlapping resonances is as follows. The absorption process is instant and dominated by a transition to the interloper line. This process is followed by rapid leakage into the dense Rydberg series, which has a longer residence time before ionization than that of the interloper state. This is because the orbiting period is proportional to $\upsilon^3$ so that an excited electron has a shorter lifetime in the interloper state belonging to a lower member of the Rydberg series.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.388-394
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• 2005

Recently, the authors have developed a method for real-time dynamics of multibody systems, which combines a semi-recursive formulation to derive the equations of motion in dependent relative coordinates, along with an augmented Lagrangian technique to impose the loop closure conditions. The following numerical integration procedures, which can be grouped into the so-called structural integrators, were tested : trapezoidal rule, Newmark dissipative schemes, HHT rule, and the Generalized-${\alpha}$ family. It was shown that, for large multi body systems, Newmark dissipative was the best election since, provided that the adequate parameters were chosen, excellent behavior was achieved in terms of efficiency and robustness with acceptable levels of accuracy. In the present paper, the performance of the described method in combination with another group of integrators, the Implicit Runge-Kutta family (IRK), is analyzed. The purpose is to clarify which kind of IRK algorithms can be more suitable for real-time applications, and to see whether they can be competitive with the already tested structural family of integrators. The final objective of the work is to provide some practical criteria for those interested in achieving real-time performance for large and complex multibody systems.

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.244-249
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• 2005

Flow distribution and pressure drop analysis for an inlet plenum of a Pebble Bed Modular Reactor (PBMR) have been performed using Computational Fluid Dynamics. Three-dimensional Navier-Stokes equations have been solved in conjunction with $k-{\epsilon}$ model as a turbulence closure. Non-uniformity in flow distribution is assessed for the reference case and parametric studies have been performed for rising channels diameter, Reynolds number and angle between the inlet ports. Also, two different shapes of the inlet plenum namely, rectangular shape and oval shape, have been analysed. The relative flow mal-distribution parameter shows that the flow distribution in the rising channels for the reference case is strongly non-uniform. As the rising channels diameter decreases, the uniformity in the flow distribution as well as the pressure drop inside the inlet plenum increases. Reynolds number is found to have no effect on the flow distribution in the rising channels for both the shapes of the inlet plenum. The increase in angle between the inlet ports makes the flow distribution in the rising channels more uniform.

• Structural Engineering and Mechanics
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• v.72 no.5
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• pp.585-595
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• 2019

Foundations are a vital part of structures. Over time, the foundations can deteriorate due to unforeseen overloads and/or settlements, resulting in the appearance of cracks in the concrete. These cracks produce changes in the static and dynamic behavior of the affected foundation, which alter its load carrying capacity. In this work, non-destructive techniques of relative simplicity of application are presented for the detection, location, and quantification of damage, using numerical models, solved with the finite element method and Power Series. For this, two types of parameters are used: static (displacement and elastic curvature) and dynamics (natural frequencies). In the static analysis, the damage detection is done by means of a finite elements model representing a beam supported on an elastic foundation with a discrete crack that varies in length and location. With regard to dynamic analysis, the governing equations of the model are presented and a method based on Power Series is used to obtain the solution for a data set, which could be the Winkler coefficient, the location of the crack or the frequency. In order to validate the proposed methodologies, these techniques are applied to data obtained from laboratory tests.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.1
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• pp.82-90
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• 2014

In this paper, the effect of Lorentz force on the stability of attitude orientation of a charged spacecraft moving in an elliptic orbit in the geomagnetic field is considered. Euler equations are used to derive the equations of attitude motion of a charged spacecraft. The equilibrium positions and its stability are investigated separately in the pitch, roll and yaw directions. In each direction, we use the Lorentz force to identify an attitude stabilization parameter. The analytical methods confirm that we can use the Lorentz force as a stabilization method. The charge-to-mass ratio is the main key of control, in addition to the components of the radius vector of the charged center of the spacecraft, relative to the center of mass of the spacecraft. The numerical results determine stable and unstable equilibrium positions. Therefore, in order to generate optimum charge, which may stabilize the attitude motion of a spacecraft, the amount of charge on the surface of spacecraft will need to be monitored for passive control.