• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.357-363
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• 2013

Most serious patients who have the paralysis of their ankles can't use of their feet freely. But their ankles can be recovered by an ankle bending rehabilitation exercise and a ankle rotating rehabilitation exercise. Recently, the professional rehabilitation therapeutists are much less than stroke patients in number. Therefore, the ankle-rehabilitation robot should be developed. The developed robot can be dangerous because it can't measure the applied bending force and twisting moment of the patients' ankles. In this paper, the six-axis force/moment sensor for the ankle-rehabilitation robot was specially designed the weight of foot and the applied force to foot in rehabilitation exercise. As a test results, the interference error of the six-axis force/moment sensor was less than 2.51%. It is thought that the sensor can be used to measure the bending force and twisting moment of the patients' ankles in rehabilitation exercise.

• Wind and Structures
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• v.35 no.2
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• pp.109-120
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• 2022

The force coefficients of rotating plates in the acceleration stage will vary with rotation rate from 0 to stable rotation rate w₀, which are important for quasi-steady theory of plate-like windborne debris to simulate the trajectory. In this paper, a wind tunnel experiment is carried out to study the effects of geometry and the Reynolds number on the variations of mean force coefficients of rotating plates. The rotational lift coefficients are sensitive to both geometry effect and Reynolds number effect, while the rotational drag and moment coefficients are only sensitive to geometry effect. In addition, new empirical formulas for the rotational lift coefficient and moment coefficients are proposed. Its accuracy is verified by comparing the predicted results with existing test data. Based on the experimental data of rotating plates, a new rotational force model for quasi-steady theory, which can be applied to a wider scope, is proposed to calculate the trajectory of plate-like windborne debris. The results show that the new model provides a better match with the tested trajectories than previous quasi-steady theories.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.20 no.1
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• pp.17-35
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• 2016

In this study, the dynamic behaviour of a rotating Timoshenko beam when under the actions of a variable magnitude load moving at non-uniform speed is carried out. The effect of cross-sectional dimension and damping on the flexural motions of the elastic beam was neglected. The coupled second order partial differential equations incorporating the effects of rotary and gyroscopic moment describing the motions of the beam was scrutinized in order to obtain the expression for the dynamic deflection and rotation of the vibrating system using an elegant technique called Galerkin's Method. Analyses of the solutions obtained were carried out and various results were displayed in plotted curve. It was found that the response amplitude of the simply supported beam increases with an increase in the value of the foundation reaction modulus. Effects of other vital structural parameters were also established.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.126-132
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• 2002

Misaligned shafts of the rotating machinery have caused noise, vibration. bearing failures, and stress concentration of coupling parts which decrease the efficiency and life of shaft systems. Therefore the proper shaft alignment of those system should be monitored continuously in dynamic condition. To solve these problems under dynamic condition a telemetry system is used. In this study, the condition of the least bending moment which is known by analyzing the structure and stress induced by misalignment is found. After the shaft is aligned by dial gage, a telemetry system with strain gages is installed on shaft. The relationship between bearing displacement and moment of coupling part influenced by misalignment is investigated. The moment derived from two shaft strain at the nearby coupling is measured. The bending strain is measured 5 times for average in static state as well as in dynamic state with 100∼700 rpm.

• International Journal of Fluid Machinery and Systems
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• v.3 no.3
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• pp.235-244
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• 2010

Recent studies on the moment whirl due to leakage flow in the back shroud clearance of hydro-turbine runners or centrifugal pump impellers are summarized. First, destabilizing effect of leakage flow is discussed for lateral vibrations using simplified models. Then it is extended to the case of whirling motion of an overhung rotor and the criterion for the instability is obtained. The fluid moment caused by a leakage clearance flow between a rotating disk and a stationary casing was obtained by model tests under whirling and precession motion of the disk. It is shown that the whirl moment always destabilizes the whirl motion of the overhung rotor while the precession moment destabilizes the precession only when the precession speed is less than half the rotor speed. Then vibration analyses considering both whirl and precession are made by using the hydrodynamic moments determined by the model tests. For larger overhung rotors, the whirl moment is more important and cause whirl instability at all rotor speed. On the other hand, for smaller overhung rotors, the precession moment is more important and cancels the destabilizing effect of the whirl moment.

• Journal of Mechanical Science and Technology
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• v.17 no.3
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• pp.380-390
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• 2003

This paper addresses the problem of the modeling and vibration control of tapered rotating blade modeled as thin-walled beams and incorporating damping capabilities. The blade model incorporates non-classical features such as anisotropy, transverse shear, secondary warping and includes the centrifugal and Coriolis force fields. For the rotating blade system, a thorough validation and assessment. of a number of non-classical features including the taper characteristics is accomplished. The damping capabilities are provided by a system of piezoactuators bonded or embedded into the structure and spread over the entire span of the beam. Based on the converse piezoelectric effect, the piezoactuators produce a localized strain field in response to a voltage and consequently, a change of the dynamic response characteristics is induced. A velocity feedback control law relating the piezoelectrically induced transversal bending moment at the beam tip with the appropriately selected kinematical response quantity is used and thebeneficial effects upon the closed-loop dynamic characteristics of the blade are highlighted.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2636-2646
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• 2002

This research presents an analytical model to investigate vibration due to ball bearing waviness in a rotating system supported by two or more ball bearings, taking account of the centrifugal force and gyroscopic moment of the ball. The waviness of rolling elements is modeled by the sinusoidal function, and it is incorporated into the position vectors of the race curvature center. The Hertzian con tact theory is applied to calculate the elastic deflection and nonlinear contact force while the rotor has translational and angular motions. Both the centrifugal force and gyroscopic moment of the ball and the waviness of the rolling elements are included in the kinematic constraints and force equilibrium equations of a ball to derive the nonlinear governing equations of the rotor, which are solved by using the Runge-Kutta-Fehlberg algorithm to determine the new position of the rotor. The proposed model is validated by the comparison of the results of the prior researchers. This research shows that the centrifugal force and gyroscopic moment of the ball plays the important role in determining the bearing frequencies, i.e. the principal frequencies, their harmonics and the sideband frequencies resulting from the waviness of the rolling elements of ball bearing. It also shows that the bearing vibration frequencies are generated by the waviness interaction not only between the rolling elements of one ball bearing but also between those of two or more ball bearings constrained by the rotor.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.123-127
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• 1986

The use of vibration signal for fault detection inside a machine (or its part) is not new, and a number of signal processing techniques are available at the moment. A common problem for all such techniques is the high level of background signals which often made it very difficult to distinguish the desired signals. We developed a new algorithm to detect the minute faults of rotating part based on spectral histogram analysis. The technique has subsequently been applied to the bearings and has proved to be useful.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.4
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• pp.236-246
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• 2024

The present study aims to identify the effects of the oblique inflow and vertical acceleration on a marine propeller's hydrodynamic force and moment. Computational Fluid Dynamics analysis is performed for a rotating propeller in open water conditions with heave motion after performing validation against experiment in straightforward conditions. The oblique inflow results in a linear increase of the off-axial component of the hydrodynamic force and moment rather than the axial one. Pitch and yaw moments due to the hull motion are dominated by the heave force and the moment arm of the propeller location. Additionally, the vertical acceleration leads to a linear augmentation of off-axial hydrodynamic force and moment, implying the added mass and moment of inertia. Notably, it is found that the off-axial hydrodynamic force and moment are dominated by the oblique inflow velocity rather than the acceleration.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.22 no.1
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• pp.61-69
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• 1998

Vapor Axial Deposition (VAD), one of optical fiber preform fabrication processes, is performed by deposition of submicron-size silica particles that are synthesized by combustion of raw chemical materials. In this study, flow field is assumed to be a forced uniform flow perpendicularly impinging on a rotating disk. Similarity solutions obtained in our previous study are utilized to solve the particle transport equation. The particles are approximated to be in a polydisperse state that satisfies a lognormal size distribution. A moment model is used in order to predict distributions of particle number density and size simultaneously. Deposition of the particles on the disk is examined considering convection, Brownian diffusion, thermophoresis, and coagulation with variations of the forced flow velocity and the disk rotating velocity. The deposition rate and the efficiency directly increase as the flow velocity increases, resulting from that the increase of the forced flow velocity causes thinner thermal and diffusion boundary layer thicknesses and thus causes the increase of thermophoretic drift and Brownian diffusion of the particles toward the disk. However, the increase of the disk rotating speed does not result in the direct increase of the deposition rate and the deposition efficiency. Slower flow velocity causes extension of the time scale for coagulation and thus yields larger mean particle size and its geometric standard deviation at the deposition surface. In the case of coagulation starting farther from the deposition surface, coagulation effects increases, resulting in the increase of the particle size and the decrease of the deposition rate at the surface.