• Journal of the Korean Society of Industry Convergence
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• v.20 no.4
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• pp.299-305
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• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• International Journal of Fluid Machinery and Systems
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• v.8 no.3
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• pp.169-182
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• 2015

When simulating the dynamic behaviour of a hydro power plant, it is essential to have a good representation of the turbine behaviour. The pressure transients in the system occurs because the flow changes, which the turbine defines. The flow through the turbine is a function of the pressure, the speed of rotation and the wicket gate opening and is, most often described in a performance diagram or Hill diagram. In the Hill diagram, the efficiency is drawn like contour lines, hence the name. A turbines Hill diagram is obtained by performance tests on scaled model in a laboratory. However, system dynamic simulations have to be performed in the early stage of a project, before the turbine manufacturer has been chosen and the Hill diagram is known. Therefore one have to rely on diagrams for a turbine with similar speed number. The Hill diagram is drawn through measured points, so for using the diagram in a simulation program, one have to iterate in the diagram based on curve fitting of the measured points. This paper describes an alternative method. By means of the Euler turbine equation, it is possible to set up two differential equations which represents the turbine performance with good enough accuracy for the dynamic simulations. The only input is the turbine's main geometry, the runner blade in- and outlet angle and the guide vane angle at best efficiency point of operation (BEP). In the paper, simulated turbine characteristics for a high head Francis turbine, and for a reversible pump turbine are compared with laboratory measured characteristics.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1476-1481
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• 2007

Numerical investigation on radiation characteristics of discrete frequency noise from asymmetry aero-intakes was carried out. The near-field predictions were obtained by solving the linearized Euler equations with computational aeroacoustic techniques consisting of high order finite difference scheme, non-reflecting boundary conditions, oversetgrid techniques. For the prediction of far-field directivity pattern, the Kirchhoff integral method was applied. By comparing the directivities of noise radiating from the scarf and the scoop aero-intakes with that from an axisymmetric aero-intake, it is shown that noise reduction at downward peak radiation angle can be achieved. The scattering of the radiating acoustic wave by background mean flow shifts the peak lobe radiation angle toward ground and increases the amplitude of the acoustic pressure compared with the cases without mean flow effect.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.10
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.4
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• pp.12-19
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• 2007

In this study, nonlinear flow-induced vibration(flutter) analyses of a 2-DOF launch vehicle airfoil have been conducted in supersonic and hypersonic flow regimes. Advanced aeroelastic analysis system based on computational fluid dynamics and computational structural dynamics is successfully developed and applied to the present analyses. Nonlinear unsteady aerodynamic analyses considering strong shock wave motions are conducted using inviscid Euler equations. Aeroelastic governing equations for the 2-DOF airfoil system is solved by the coupled integration method with interactive CFD and CSD computation procedures. Typical wedge type airfoil shapes with initial angle-of-attacks are considered to investigate the nonlinear flutter characteristics in supersonic(15). Also, the comparison of detailed aeroelastic responses are practically presented as numerical results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.928-931
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• 1996

It is necessary to develop the simulator for the test of stability and torque before the walking experiment of biped robot, because a robot may be damaged in an actual experiment. This thesis deals with the development of three-dimensional simulator for improving efficiency and safety during development and experimentation. The simulator is composed of three parts-solving dynamics, rendering pictures and communicating with the robot. In the first part, the D-H parameter and parameter of links can be loaded from the file and edited in the program. The results are obtained by using the Newton-Euler method and are stored in the file. Through the above process, the proper length of link and driving force can be found by using simulator before designing the robot. The second part is organized so that the user can easily see a specific value or a portion he wants by setting viewing parameters interactively. A robot is also shown as a shaded rendering picture in this part. In the last part, the simulator sends each desired angle of joints to the robot controller and each real angle of joints is taken from the controller and passed to the second part. The safety of the experiment is improved by driving the robot after checking whether the robot can be actuatable or not and whether the ZMP is located within the sole of the foot or not for a specific gait. The state of the robot can be easily grasped by showing the shaded rendering picture which displays the position of the ZMP, the driving force and the shape of robot.

• Journal of computational fluids engineering
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• v.18 no.3
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• pp.42-50
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• 2013

The supersonic airplane with flapped biplane, Busemann biplane equipped flap, is superior to drag and noise reduction due to wave cancelation effect between upper and lower airfoils. In this study, it is numerically calculated and analyzed the lift, drag and lift to drag ratio of flapped biplane with respect to various the length and angle of the flap. Euler solver of EDISON CFD, web based computational fluid dynamic solver for the purpose of education, is employed. Depending on the length of the flap, lift and drag increase linearly, and there exists the optimum flap angle which maximize the lift-to-drag ratio at the freestream mach 2.0 on-design condition. The predictable relational expression is driven as liner equation. As a results of comparison with drag of flapped biplane, Busemann biplane, and diamond airfoil with the same lift, the drag of flapped biplane is 88.76% lower than that of the Busemann biplane and 70.67% lower than that of the diamond airfoil. In addition, the change of pressure is compared to confirm the noise reduction effect of flapped biplane at h/c=5 of lower airfoil. The shock strength of flapped biplane is smaller than that of other airfoils.

• Journal of KSNVE
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• v.9 no.5
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• pp.1019-1028
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• 1999

Free vibration characteristics of cantilevered laminated composite beams with a transverse non0propagating open carck are investigated. In the present analysis a special ply-angle distribution referred to as asymmetric stiffness configuration inducing the elastic coupling between chord-wise bending and extension is considered. The open crack is modelled as an equivalent rotational spring whose spring constant is calculated on the basis of fracture mechanics of composite material structures. Governing equations of a composite beam with a open crack are derived via Hamilton's Principle and Timoshenko beam theory encompassing transverse shear and rotary inertia effect. the effects of various parameters such as the ply angle, fiber volume fraction, crack depth, crack position and transverse shear on the free vibration characteristics of the beam with a crack is highlighted. The numerical results show that the natural frequencies obtained from Timoshenko beam theory are always lower than those from Euler beam theory. The presence of intrinsic cracks in anisotropic composite beams modifies the flexibility and in turn free vibration characteristics of the structures. It is revealed that non-destructive crack detection is possible by analyzing the free vibration responses of a cracked beam.

• Journal of the Korean Society of Propulsion Engineers
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• v.6 no.2
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• pp.65-74
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• 2002

Optimal supersonic diffuser shape of integrated rocket ramjet engine was derived which maximizes the total pressure recovery. Mass flux is considered as a design constraint and the second oblique shock angle of the external ramp, the cowl-lip angle and the throat area are selected as design variables. Refined response surface method through design space transformation technique was developed and employed, and high confidence level of the regression model could be obtained. Genetic algorithm was implemented for both system optimizer and subspace regression model optimization. Virtual nozzle was located at the end of throat to adjust the back pressure. With only 20 aerodynamic analyses, optimal supersonic diffuser shape which has 14% improved total pressure recovery characteristics was successfully designed.

• International Journal of Fluid Machinery and Systems
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• v.3 no.1
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• pp.20-28
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• 2010

This paper deals with the Design and Analysis of a Controlled Diffusion Aerofoil (CDA) Blade Section for an Axial Compressor Stator and Effect of incidence angle and Mach No. on Performance of CDA. CD blade section has been designed at Axial Flow Compressor Research Lab, Propulsion Division of National Aerospace Laboratories (NAL), Bangalore, as per geometric procedure specified in the U.S. patent (4). The CFD analysis has been performed by a 2-D Euler code (Denton's code), which gives surface Mach No. distribution on the profiles. Boundary layer computations were performed by a 2-D boundary layer code (NALSOF0801) available in the SOFFTS library of NAL. The effect of variation of Mach no. was performed using fluent. The surface Mach no. distribution on the CD profile clearly indicates lower peak Mach no. than MCA profile. Further, boundary layer parameters on CD aerofoil at respective incidences have lower values than corresponding MCA blade profile. Total pressure loss on CD aerofoil for the same incidence range is lower than MCA blade profile.