• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.11a
• /
• pp.394-400
• /
• 2008

This paper presents an analytical method to investigate the stability of FDBs (fluid dynamic bearings) considering the tilting motion. The perturbed equations of motion are derived with respect to translational and tilting motion for the general rotor-bearing system with five degrees of freedom. The Reynolds equations and their perturbed equations are solved by using the FEM in order to calculate the pressure, load capacity, and the stiffness and damping coefficients. This research introduces the radius of gyration to the equations of notion in order to express the mass moment of interia with respect to the critical mass. Then the critical mass of FDBs is determined by solving the eigenvalue problem of the linear equations of motion. This research is numerically validated by comparing the stability chart of FDBs with the time response of the whirl radius obtained from the direct integration of the equations of motion. This research shows that the tilting motion is one of the major design considerations to determine the stability of rotating system. It also shows that the stability of FDBs considering only translation is overestimated in comparison with the stability of FDBs considering both translational and tilting motion.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.10
• /
• pp.1062-1069
• /
• 2012

This paper suggests a computational modeling to reflect static/dynamic characteristics of LM bearings. A theoretical study for modeling LM bearings is elucidated by using the Hertz contact theory, the Lagrange's equation of motion, normal mode analysis and a calculation of equivalent moment center. The complex geometry of LM bearings is replaced by a simplified model with eight springs only. The suggested model reflects static and dynamic characteristics of LM bearings without any consideration for the shape of the bed or stages on the LM bearings. The modal experimental results are compared to the simulation results with the suggested computational modeling. The difference between the experiments and simulation is calculated less than 8%.

• Journal of the Society of Naval Architects of Korea
• /
• v.36 no.3
• /
• pp.60-70
• /
• 1999

The longitudinal stability characteristics of a Wing-In-Ground Effect Craft are quite different from that of the conventional airplane due to the existence of force and moment derivatives with regard to height. This stability characteristics plays a great role in designing a safe and efficient WIG due to its potential danger in sea surface proximity. The static and dynamic stability criteria are derived from the motion equations of WIG in the framework of small disturbance theory and discussed in the paper. The static and dynamic stability analyses of a 20-passenger WIG are conducted based on the wind tunnel test data and the dynamic motion behaviors are investigated for the change of the design parameters. Finally, the flying quality of the 20-passenger WIG is analysed at the cruising condition according to the military regulations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.10
• /
• pp.1029-1038
• /
• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2006.04a
• /
• pp.1040-1047
• /
• 2006

Bridges are exposed to constantly changing weather conditions and temperature. The temperature change is induced by a change in atmospheric temperature and solar radiation. Atmospheric temperature change acts on the whole structure. Thus, it is relatively easy to consider in the design. Solar radiation, however, causes un-uniform temperature distribution in the structure, depending on the shape of the structure and its shadows. Un-uniform temperature distribution causes a torsional moment in bridge section and a deformation of bridge. A deformation can make differences of dynamic and static behavior of bridge. In this study, the method for analysis of static and dynamic behavior considering deformation and changes of material properties due to temperature variation was developed. By this method, it is found from dynamic analysis results that the change of frequency in analysis model is similar with test results of public used cable-stayed bridge. When a temperature goes down, a frequency goes up. And it is found that the change of frequency is affected by the change of material properties.

• Journal of Digital Contents Society
• /
• v.13 no.3
• /
• pp.451-457
• /
• 2012

Recently, as the use of real time traffic information of a car navigation system increases rapidly with the development of Intelligent Transportation Systems (ITS), path search is getting more important. Previous algorithms, however, are mostly for the shortest distance searching and provide route information using static distance and time information. Thus they could not provide the most optimal route at the moment which changes dynamically according to traffic. Accordingly, in this study, Semantic Shortest Path algorithm with Reduction ratio & Distance(SSP_RD) is proposed to solve this problem. Additionally, a routing model based on velocity reduction ratio and distance and a dynamic route link map are proposed.

• Steel and Composite Structures
• /
• v.8 no.1
• /
• pp.53-83
• /
• 2008

A rational and efficient seismic design methodology for irregular space steel frames using advanced methods of analysis in the framework of Eurocodes 8 and 3 is presented. This design methodology employs an advanced static or dynamic finite element method of analysis that takes into account geometrical and material non-linearities and member and frame imperfections. The inelastic static analysis (pushover) is employed with multimodal load along the height of the building combining the first few modes. The inelastic dynamic method in the time domain is employed with accelerograms taken from real earthquakes scaled so as to be compatible with the elastic design spectrum of Eurocode 8. The design procedure starts with assumed member sections, continues with the checking of the damage and ultimate limit states requirements, the serviceability requirements and ends with the adjustment of member sizes. Thus it can sufficiently capture the limit states of displacements, rotations, strength, stability and damage of the structure and its individual members so that separate member capacity checks through the interaction equations of Eurocode 3 or the usage of the conservative and crude q-factor suggested in Eurocode 8 are not required. Two numerical examples dealing with the seismic design of irregular space steel moment resisting frames are presented to illustrate the proposed method and demonstrate its advantages. The first considers a seven storey geometrically regular frame with in-plan eccentricities, while the second a six storey frame with a setback.

• Journal of Mechanical Science and Technology
• /
• v.20 no.5
• /
• pp.602-611
• /
• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Journal of Advanced Marine Engineering and Technology
• /
• v.26 no.1
• /
• pp.48-58
• /
• 2002

There is a purpose of this study for the proposal of the optimum technique utilized for the vibration design initial step. The stiffened plate structure for the ship hull is made for analysis model. To begin with, dynamic characteristics of stiffened plate structure is analysed using FEM. Main vibrational mode of the structure is decided in the analytical result of FEM. The simplified equation on the natural frequency of the main vibrational mode is induced. Next, sensitivity analysis is carried out using the simplified equation, and rate of change of dynamic characteristics is calculated. Then, amount of design variable is calculated using this sensitivity value and optimum structural modification method. The change of natural frequency is made to be an objective function. Thickness of panel, cross section moment of stiffener and girder become a design variable. The validity of the optimization method using simplified equation is examined. It is shown that the result effective in the optimum modification for natural frequency of the stiffened plate structure.

• Journal of Advanced Navigation Technology
• /
• v.16 no.2
• /
• pp.367-374
• /
• 2012

A dynamic simulation and test of frame with thin walled closed section beams considering warping conditions have been performed. When a beam is subjected under torsional moment, the cross section will deform an warping as well as twist. For some thin-walled sections warping will be large, and accompanying warping restraint will induce axial and shear stresses and reduce the twist of beam which stiffens the beam in torsion. This paper presents that an warping restraint factor in finite element model effects the behavior of beam deformation and dynamic mode shape. The computer modelling of frame is discussed in linear beam element model and linear thin shell element model, also presents a correlation between computer predicted and actual experimental results for static deflection, natural frequencies and mode shapes of frame.