• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.703-710
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• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.

• Proceedings of the International Union of Geodesy And Geophysics Korea Journal of Geophysical Research Conference
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• 2003.05a
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• pp.18-18
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• 2003

Three-dimensional finite-difference simulation of earthquake ground motion is performed using a locally variable time-step (LVTS) scheme matching with discontinuous grids. Discontinuous grids in three directions and extension of the discontinuous grids' boundary to the free-surface in the LVTS scheme minimize the cost of both the computational memory and the CPU time for models like the localized sedimentary basin. A simplified model of sedimentary basin is dealt to show the feasibility and efficiency of the LVTS scheme. The basin parameters are examined to understand the main characteristics on ground-motion response in the basin. The results show that the seismic energy is concentrated on a marginal area of the basin far from the source. This focusing effect is mainly due to the constructive interference of the direct S-wave with the basin-edge induced surface waves. The ground-motion amplification over the deepest part of the basin is relatively lower than that above the shallow basin edge. Therefore the ground-motion amplification may be more related to the source azimuth or the direction of the incident waves into the basin rather than the depth of it.

• Journal of the Korean Society for Heat Treatment
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• v.31 no.5
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• pp.231-236
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• 2018

The purpose of this study was to investigate the microstructural characteristics and hardness distribution of AZ91 magnesium alloy furnace-cooled to room temperature after solution treatment, and to compare the results with those of as-cast condition. The as-cast alloy showed a partially divorced eutectic ${\beta}(Mg_{17}Al_{12})$ phase and discontinuous precipitates (DPs) with a lamellar morphology, while only DPs were observed in the furnace-cooled alloy. The DPs in the furnace-cooled AZ91 alloy had various apparent interlamellar spacings, which would be ascribed to the different transformation temperatures during the furnace cooling. The average hardness for the furnace-cooled alloy is similar to that for the as-cast alloy. It is interesting to note that the hardness values of the furnace-cooled alloy were distributed over a narrower range than those of the as-cast alloy. This is likely to be caused by the relatively more homogeneous microstructure of the furnace-cooled alloy in comparison with the ascast one.

• Journal of the Korean Society for Heat Treatment
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• v.33 no.6
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• pp.271-276
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• 2020

The relationship between the hardness and interlamellar spacing of discontinuous precipitates (DPs) formed by continuous cooling was studied for Mg-9%Al-1%Zn alloy. After solution treatment at 683 K for 24 h, the specimens were cooled to room temperature with different cooling rates ranging from 0.2 to 2 K·min^-1, in order to obtain DPs with various interlamellar spacings. It was found that cooling rate of 2 K·min^-1 yielded only small amount of nodular DPs at the grain boundaries, while cooling rates below 2 K·min^-1 yielded both DPs and continuous precipitates (CPs). The volume fraction of DPs increased with increasing cooling rate up to 0.5 K·min^-1, over which it abruptly decreased. The hardness of DPs was increased with an increase in the cooling rate, whereas the interlamellar spacing of the DPs was decreased with respect to cooling rate. The hardness of the DPs formed by continuous cooling was correlated with the interlamellar spacing and can follow a Hall-Petch type relation as in the case of pearlite with lamellar morphology.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.50-58
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• 2003

We have developed a locally variable time-step scheme matching with discontinuous grids in the flute-difference method for the efficient simulation of seismic wave propagation. The first-order velocity-stress formulations are used to obtain the spatial derivatives using finite-difference operators on a staggered grid. A three-times coarser grid in the high-velocity region compared with the grid in the low-velocity region is used to avoid spatial oversampling. Temporal steps corresponding to the spatial sampling ratio between both regions are determined based on proper stability criteria. The wavefield in the margin of the region with smaller time-step are linearly interpolated in time using the values calculated in the region with larger one. The accuracy of the proposed scheme is tested through comparisons with analytic solutions and conventional finite-difference scheme with constant grid spacing and time step. The use of the locally variable time-step scheme with discontinuous grids results in remarkable saving of the computation time and memory requirement with dependency of the efficiency on the simulation model. This implies that ground motion for a realistic velocity structures including near-surface sediments can be modeled to high frequency (several Hz) without requiring severe computer memory

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.325-328
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• 2009

In this study, A Magnetic stimulation Pulse Train control technique is introduced and applied to Flyback converter operating in discontinuous conduction mode. In contrast to the conventional pulse width modulation control scheme, the principal idea of a Magnetic stimulation Pulse Train is to achieve output voltage regulation using high and low power pulses. The proposed technique is applicable to any converter operating in discontinuous conduction. However, this work mainly focuses on Flyback topology. In this paper, the main mathematical concept of the new control algorithm is introduced and simulations as well as experimental results are presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.607-615
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• 2019

In this paper, the electromagnetic effects on the discontinuity structures of the frequency selective radome in manufacturing process based on the X-band were analyzed. In order to fabricate a curved radome using a planar frequency selective surface structure, it is assumed that gaps, slanted gaps, pattern damage, and pattern misalignment between FSS patterns, which are discontinuous elements that can occur at the joint surface of the FSS panel. FSS specimens including continuous elements were fabricated and the frequency transmission characteristics were measured in a free space measurement environment. From the measurement results, resonance frequency shift, transmission performance degradation, and bandwidth variations were found to be the largest when the damaged pattern was bonded to the junction of FSS panels.

• Geomechanics and Engineering
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• v.11 no.6
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• pp.787-803
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• 2016

DDARF (Discontinuous Deformation Analysis for Rock Failure) is a numerical algorithm for simulating jointed rock masses' discontinuous deformation. While its reinforcement simulation is only limited to end-anchorage bolt, which is assumed to be a linear spring simply. Here, several new reinforcement modes in DDARF are proposed, including lining reinforcement, full-length anchorage bolt and equivalent reinforcement. In the numerical simulation, lining part is assigned higher mechanical strength than surrounding rock masses, it may include multiple virtual joints or not, depending on projects. There must be no embedding or stretching between lining blocks and surrounding blocks. To realize simulation of the full-length anchorage bolt, at every discontinuity passed through the bolt, a set of normal and tangential spring needs to be added along the bolt's axial and tangential direction. Thus, bolt's axial force, shearing force and full-length anchorage effect are all realized synchronously. And, failure criterions of anchorage effect are established for different failure modes. In the meantime, from the perspective of improving surrounding rock masses' overall strength, a new equivalent and tentative simulation method is proposed, it can save calculation storage and improve efficiency. Along the text, simulation algorithms and applications of these new reinforcement modes in DDARF are given.

• Journal of the Korean Society for Heat Treatment
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• v.34 no.5
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• pp.218-225
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• 2021

In this study, damping capacities were comparatively investigated for Mg-9%Al alloy with as-cast (AC) and fully discontinuous precipitates (DPs) microstructures, respectively. The DPs microstructure was obtained by solution treatment at 678 K for 24 h, followed by furnace cooling to RT. The AC microstructure was typically characterized by partially divorced eutectic β(Mg₁₇Al₁₂) phase particles distributed along the α-(Mg) matrix cell boundaries. The DPs microstructure showed lamellar morphology consisting of α and β thin layers with various interlamellar spacings. The DPs microstructure had better damping capacity than the AC microstructure in the strain-amplitude independent region, while in the strain-amplitude dependent region, the damping behavior was reversed. In view of the microstructural features of AC and DPs, the lower concentration of Al in the α-(Mg) phase for the DPs microstructure and the lower β phase number density for the AC microstructure would be responsible for the higher damping capacities in the strain-amplitude independent and strain-amplitude dependent regions, respectively.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.39 no.1
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• pp.175-181
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• 2019

The hydrostatic pressure, thrust, and wall reflection by a step were studied as the flow resistance due to the discontinuous topography by using the Hwang's scheme in calculating fluxes with an approximate Riemann solver. Compared with the broad-crested weir experiments, the result simulated by using the thrust was the best among them. Hwang's scheme with the thrust by a step was applied to the side weir experiment. The results of simulation agreed well with those of the experiment. Compared to the existing depth-integrated model, the accuracy was slightly lowered, but the running time was reduced to about 20 %.