• Title/Summary/Keyword: Rigid-Body Mechanism

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A study on the modeling of a hexacopter

  • Le, Dang-Khanh;Nam, Taek-Kun
    • Journal of Advanced Marine Engineering and Technology
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    • v.39 no.10
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    • pp.1023-1030
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    • 2015
  • The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

An Analysis of the Flow Field and Radiation Acoustic Field of Centrifugal Fan with Wedge -The Prediction of the Scattered Sound Field- (웨지가 있는 원심 임펠러의 유동장 및 방사 음향장 해석(II) -원심홴의 산란 음향장 예측-)

  • Lee, Deok-Ju;Jeon, Wan-Ho
    • Transactions of the Korean Society of Mechanical Engineers B
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    • v.25 no.9
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    • pp.1165-1174
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    • 2001
  • The objective of this study is to understand the generation mechanism of sound and to develop a prediction method for the acoustic pressure field of a centrifugal fan. If the fan is operating at the free field without the casing, the acoustic analogy is a good method to predict the acoustic of the fan. But, the casing gives a dominant effect to the radiated sound field and the scattering effect of casing should be considered. So, in this paper the Kirchhoff-BEM is developed, which can consider the scattering effect of the rigid body. In order to consider the scattering and diffraction effects owing to the casing, BEM is introduced. The source of BEM is newly developed, so the sound field of the centrifugal fan can be obtained. In order to compare the predicted one with experimental data, a centrifugal impeller and a wedge are used in the numerical calculation and the results are compared with the experimental data. Reasonable results are obtained not only for the peak frequencies but also for the amplitudes of the tonal sound. The radiated acoustic field shows the diffraction and scattering effects of the wedge clearly.

Study on lateral behavior of digging well foundation with consideration of soil-foundation interaction

  • Wang, Yi;Chen, Xingchong;Zhang, Xiyin;Ding, Mingbo;Lu, Jinhua;Ma, Huajun
    • Geomechanics and Engineering
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    • v.24 no.1
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    • pp.15-28
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    • 2021
  • Digging well foundation has been widely used in railway bridges due to its good economy and reliability. In other instances, bridges with digging well foundation still have damage risks during earthquakes. However, there is still a lack of knowledge of lateral behavior of digging well foundation considering the soil-foundation interaction. In this study, scaled models of bridge pier-digging well foundation system are constructed for quasi-static test to investigate their lateral behaviors. The failure mechanism and responses of the soil-foundation-pier interaction system are analyzed. The testing results indicate that the digging foundations tend to rotate as a rigid body under cyclic lateral load. Moreover, the depth-width ratio of digging well foundation has a significant influence on the failure mode of the interaction system, especially on the distribution of foundation displacement and the failure of pier. The energy dissipation capacity of the interaction system is discussed by using index of the equivalent viscous damping ratio. The damping varies with the depth-width ratio changing. The equivalent stiffness of soil-digging well foundation-pier interaction system decreases with the increase of loading displacement in a nonlinear manner. The absolute values of the interaction system stiffness are significantly influenced by the depth-width ratio of the foundation.

Analytical calculation method for the axial equivalent elastic modulus of laminated FRP pipes based on three-dimensional stress state

  • Chen, Li;Pan, Darong;Zhao, Qilin;Chen, Li;Chen, Liang;Xu, Wei
    • Structural Engineering and Mechanics
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    • v.77 no.1
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    • pp.137-149
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    • 2021
  • In engineering design, the axial equivalent elastic modulus of laminated FRP pipe was mostly calculated by the average elastic modulus method or the classical laminated plate theory method, which are based on relatively simplified assumptions, and may be not accurate enough sometimes. A new analytical calculation method for the axial equivalent elastic modulus of laminated FRP pipe was established based on three-dimensional stress state. By comparing the results calculated by this method with those by the above two traditional analytical methods and the finite element method, it is found that this method for the axial equivalent elastic modulus fits well not only for thin-walled pipes with orthotropic layers, but also for thick-walled pipes with arbitrary layers. Besides, the influence of the layer stacking on the axial equivalent elastic modulus was studied with this method. It is found that a proper content of circumferential layer is beneficial for improving the axial equivalent elastic modulus of the laminated FRP pipe with oblique layers, and then can reduce its material quantity under the premise that its axial stiffness remains unchanged. Finally, the meso-mechanical mechanism of this effect was analyzed. The improving effect of circumferential layer on the axial equivalent elastic modulus of the laminated FRP pipe with oblique layers is mainly because that, the circumferential fibers can restrain the rigid body rotations of the oblique fibers, which tend to cause the significant deformations of the pipe wall units and the relatively low axial equivalent elastic modulus of the pipe.

HISTOLOGICAL CHANGES IN THE ELONGATED BONE AFFECTED BY OSTEODISTRACTION OF THE MANDIBLE IN THE DOG (성견 하악골 절단 후 기계적 골 견인에 의해 형성된 골 신장부에 대한 시기별 조직학적 변화)

  • Baek, Sun-Ho;Ahn, Byoung-Keun;Park, Young-Ju;Park, Hee-Geon;Park, Jun-Woo;Rhee, Gun-Joo;Lee, Yong-Chan;Cho, Byoung-Ouck
    • Journal of the Korean Association of Oral and Maxillofacial Surgeons
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    • v.27 no.5
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    • pp.404-416
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    • 2001
  • Purpose : Traditionally, the treatement of choice has been a bone grafting procedure to increase the length of bone in case of actual length discrepancy. But, bone grafting procedure has many disadvantages, for example, graft resorption, donor site morbidity, and so on. So, many trials have been performed to avert the use of autogenous bone graft via introducing new materials or methods. And, one of those trials has been realized by the development of a technique inducing bone lengthening by osteotomy (or corticotomy) and slow gradual distraction of the osteotomized segments. This new technique of bone lengthening dates back to the early 20th century. But, the majority of information concerning the biology of new bone formation during bone lengthening and technical details of the procedure were produced by extensive clinical and experimental studies performed by Ilizarov, a Russian surgeon. According to Ilizarov, with adequate blood supply, preservation of periosteum, rigid fixation of the osteotomized segments, and proper rate and rhythm of distraction, intramembranous bone rapidly develops within the distraction gap in the limb lengthening procedure. In the limb lengthening, many orthopedic surgeons try to observe the biologic and clinical principles recommended by Ilizarov. In the oral and maxillofacial region, however, not a few studies must be performed to apply this surgical technique in the clinical cases. Besides, the mechanism of bone formation in the distraction gap is not clear, yet. The purpose of this experiment was to scrutinize serially the histological changes in the elongated bone affected by osteodistraction of the mandibular body in an adult canine model. In addition, it was performed to confirm the presence of specific region(s) which was important in the bone formation in the gap through the observation of the expression pattern of osteocalcin and osteonectin with the immunohistochemical examination. Materials and Methods : The experimental and control specimens were obtained from seven adult male mongrel dogs weighing over 20kg. The distractors were custom-made linear extraoral devices and bicortical fixation screws were 2.3mm in diameter, 50mm in total length, 15mm in screw length. The distractors were devised to produce a linear gap of 0.75mm between two bony segments every $360^{\circ}$ turn of the rotation rod of the device. The mandibular body of the right side of each animal was corticotomized perpendicular to the occlusal plane and then two bony segments were separated completely by careful manipulation of the segments with bone forceps. The left side of each animal was left intact. This side was served as control. At sixth day after osteotomy and fixation of the segments were performed, distraction of the segments was commenced with a rate of 1.1mm/day and a rhythm of two/day for ensuing 7 days. The animals were euthanized at the 16th. 29th, and 44th day after the osteotomy. The bony specimens were decalcified, embedded in paraffin, sectioned $5{\mu}m$ thick and stained with H&E. The prepared specimens were examined under the light microscope. And, immunohistochemical examinations using anti-osteocalcin antibody (OC1, Biodesign, USA) and anti-osteonectin antibody (Haematologic Technologies Inc., Essex, VT) to locate the expressions of osteocalcin and osteonectin, respectively, were performed. Results : 1. New bone was observed already at the 16th. day after osteotomy. This suggests that new bone formation in osteodistraction was commenced at an early stage of the regenerative process. But, radiologically and microscopically, bony union was not completed in the distraction gap at the 44th. day after osteotomy. Therefore, rigid fixation must be maintained between the bony fragments till the complete bony union is confirmed clinically rather than one month or so after the completion of distraction.

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The Behavior Characteristics of Segmental Crib Retaining Wall by Model Test (모형실험에 의한 조립식 격자 옹벽의 거동 특성)

  • 김상수;신방웅;김용언;이재영;변동건
    • Proceedings of the Korean Geotechical Society Conference
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    • 1999.10a
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    • pp.449-456
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    • 1999
  • The concrete wall is the most useful of retaining structure which can obtain the engineering stability, but has problems that is not friendly with nature environment in a fine view, such as poor rear drainage, and shrinkage crack by temperature difference, etc. Because of this problems, the research for a segmental crib retaining wall has been performed. A segmental crib retaining wall is quickly and easily erected because is possible to be erected as the individual members, and is not sensitive to differential settlement and earthquakes. Also, it shows effective drainage and has a friendly advantage with nature environment because of being able to be planted with vines and shrubs in retaining walls The design of crib retaining walls has traditionally been based on classical soil mechanics theories. These theories, originally derived by Rankine(1857) and Coulomb(1776), assume that the wall acts as a rigid body. This assumption results in failure being predicted by either monolithic overturning or base sliding mechanisms. However, the wall consists of individual members which have been created a three dimensional grid. This grid confines an fill mass which becomes part of the wall. The filled wall resists the earth pressure with the same mechanism of classical gravity walls. Because of the flexibility of the individual segment, it allows relative movement between the individual members within the wall. The three dimensional flexible grid leads to stress redistribution when the wall is subjected to external or fill loads. Due to the flexibility and the stress redistribution, the failure of segmental crib wall consists of not only overturing and base sliding but the local deformation and the failure between the segmental members. It has been researched in the field that due to this flexibility and load redistribution, serviceability failure of segmental crib walls is unlikely to be due to overturning or base sliding. Therefore, in this study, the relative displacement appearance of retaining wall due to variation of inclination is measured to examine this behavior characteristics. Also, the behavior characteristics of retaining walls by surcharge load, and location of acting point of retaining wall rear, and the displacement characteristics and deflections are estimated about the existence and nonexistence of Rear Stretcher performing an role in transmitting earth pressure of Header and Stretcher organizing retaining walls. This research focuses on the characteristics due to the behavior of retaining walls. This research focuses on the characteristics due to the behavior of retaining walls.

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