• 대한기계학회논문집A
• /
• 제27권8호
• /
• pp.1303-1308
• /
• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 춘계학술대회
• /
• pp.893-898
• /
• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Structural Engineering and Mechanics
• /
• 제81권1호
• /
• pp.1-9
• /
• 2022

Due to the frequency and magnitude of some loads produced by gusts of turbulent wind, building floors can develop lateral displacements and significant accelerations which can produce strong inertial forces on structural, non-structural elements and occupants. A device that can help to reduce the floor accelerations is the well-known Tuned Mass Damper (TMD); however, nowadays there is no enough information about its capacity in order to dissipate energy of turbulent wind loads. For this reason, in this paper different buildings with and without TMD are modeled and dynamically analyzed under simulated wind loads in order to study the reduction of peak floor accelerations. The results indicate that peak floor accelerations can be reduced up to 40% when TMD are incorporated in the buildings, which demonstrated that the Tuned Mass Damper is an efficient device to reduce the wind effects on tall buildings.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2003년도 추계학술대회 논문집(II)
• /
• pp.591-595
• /
• 2003

Field measurements were conducted to analysis lateral dynamic characteristics of existing steel plate girder railway bridges without ballast. Three bridges which have 9m, 12m, 18m span length in Kyoung-Bu Line were selected for test. According to the each bridge, dynamic lateral deflections and accelerations were measured. From the present study, it was observed that dynamic lateral amplification phenomena caused by a fluctuation of lateral force were occurred under the current running circumstances. Lateral deflections were occurred below than that specified in Korean railway bridge specification, but lateral accelerations is a match for vertical accelerations. From now on, it is in need a plan to reduce lateral accelerations for the conventional railway Line speed up.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 춘계학술대회
• /
• pp.1801-1805
• /
• 2003

The intermittent characteristics of fluid particle accelerations near the wall are investigated with the higher-order statistics and the probability density functions (PDF) by using a direct numerical simulation of turbulent channel flow. Also, the behaviors of acceleration associated with the coherent structures are discussed. The flatness factor of wall-normal acceleration is extremely high near the wall and it exceeds the previously reported value obtained in isotropic turbulence. The presence of the wall seems to make the accelerations more intermittent and the associated mechanism is explained with the PDFs. The skewness factor of wall-normal acceleration indicates that accelerations are associated with the streamwise vortices.

• International Journal of Railway
• /
• 제2권4호
• /
• pp.152-163
• /
• 2009

In this paper, the correlation between the accelerations measured at the track components and the parameters affecting the acceleration is analyzed. To do it, the accelerations of each track component such as rails, sleepers and ballast are measured in Kyong-Bu high-speed Line. The RMS values of the measured accelerations are calculated and the pad stiffness, the longitudinal irregularity, running velocity and the corrugation, are considered as the parameters affecting the acceleration. By using the linear regression, the correlation coefficients are calculated to analyze the relationship between the acceleration characteristics and the parameters. Also, the 1/3 Octave analysis is calculated to analyze the dominant frequency band of the accelerations of the track components.

• Structural Engineering and Mechanics
• /
• 제47권5호
• /
• pp.661-678
• /
• 2013

As a new type of vibration reduction, the ladder track system has been successfully used in engineering. In this paper, a numerical model of the train-track-viaduct system is established to study the dynamic responses of an elevated bridge with ladder track. The system is composed of a vehicle submodel, a track submodel and a bridge submodel, with the measured track irregularities as the system self-excitation. The whole time histories of a train running through an elevated bridge with $3{\times}27m$ continuous PC box girders are simulated. The dynamic responses of the bridge such as deflections, lateral and vertical accelerations, and the vehicle responses such as derailment factors, offload factors and car-body accelerations are calculated. The calculated results are partly validated through the comparison with the experimental data. Compared to the common slab track, adapting the ladder sleeper can effectively reduce the accelerations of the bridge girder, and also reduce the car-body accelerations and offload factors of the train vehicle.

• 한국해양공학회지
• /
• 제24권1호
• /
• pp.1-9
• /
• 2010

A series of experiments employing particle image velocimetry (PIV) technique was conducted to produce benchmark wave kinematics data for regular waves having four different wave slopes in 2-D wave tank. Water velocities and accelerations near the free surface of regular waves were computed from image pair obtained by PIV systems. With the measured wave velocity field, the wave accelerations were computed using a centered finite difference scheme. Both local and convective components of the total accelerations are obtained from experimental data. With increasing the wave slope, the horizontal velocity and the vertical accelerations near the wave crest obtained by PIV technique became larger than theoretical results, which are well-known phenomena of the wave nonlinearity. It is noted that the relative magnitude of convective acceleration to the local acceleration became larger with increasing wave slope.

• 제어로봇시스템학회논문지
• /
• 제15권2호
• /
• pp.148-154
• /
• 2009

In this paper, an embedded Kalman filter for a time-delayed controller is designed on an FPGA to estimate accelerations of the robot arm. When the time-delayed controller is used as a controller, the inertia estimation along with accelerations is needed to form the control law. Although the time-delayed controller is known to be robust to cancel out uncertainties in the nonlinear systems, performances are very much dependent upon estimating the acceleration term ${\ddot{q}}(t-{\lambda})$ along with inertia estimation ${\hat{D}}(t-{\lambda})$. Estimating accelerations using the finite difference method is quite simple, but the accuracy of estimation is poor specially when the robot moves slowly. To estimate accelerations more accurately, various filters such as the least square fit filter and the Kalman filter are introduced and implemented on an FPGA chip. Experimental studies of following the desired trajectory are conducted to show the performance of the controller. Performances of different filters are investigated experimentally and compared.

• 대한임베디드공학회논문지
• /
• 제17권3호
• /
• pp.149-155
• /
• 2022

This paper proposes a method for estimating the road surface condition and tilt angle using an inertial measurement unit (IMU) to improve the safety in the use of mobility aids for the elderly. The measurements of the accelerometers of the IMU usually include the accelerations caused by not only the gravitational force but also linear and rotational motions. Thus, the gravitational accelerations are first extracted using several physical constraints and then incorporated into the Kalman filter to estimate the tilt angle. In addition, because the magnitudes of the accelerations produced by the rotational motions (roll and pitch motions) vary with the road surface condition, a criterion based on such accelerations is presented to classify the condition of the road surface. The obtained road surface condition and tilt angle are finally combined to provide the safety information (e.g., safe, warning, and danger) for the user to improve the walking safety. Experiments were carried out and the results showed that the proposed method can provide the condition of the road surface, the tilt of the road surface, and the safety information correctly.