• Journal of Environmental Science International
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• v.3 no.1
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• pp.49-56
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• 1994

Effect of the liquid circulation velocity on the biofilm development was investigated in an inverse fluidized bed biofilm reactor(IFBBR). To observe the effect of the influent COD concentration on biofilm simultaneously, the influent COD value was adjusted to 1000mg/1 f for 1st reactor, and 2500mg/l for 2nd reactor. The liquid circulation velocity was adjusted by controlling the initial liquid height. As the liquid circulation velocity was decreased, the settling amount of biomass was increased and the amount of effluent biomass was decreased. Since the friction of liquid was decreased by the decrease of liquid circulation velocity, the biofilm thickness was increased and the biofilm dry density was decreased. In the 1st reactor the SCOD removal efficiency was constant regardless of the variation of the liquid circulation velocity, but it was increased by the decrease of the liquid circulation velocity because of more biomass population in 2nd reactor.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1611-1620
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• 2005

This paper shows the use of wavelet transformation combined with inverse acoustics to reconstruct the surface velocity of a noise source. This approach uses the boundary element analysis based on the measured sound pressure at a set of field points, the Helmholtz integral equations and wavelet transformation for reconstructing the normal surface velocity field. The reconstructed field can be diverged due to the small measurement errors in the case of nearfield acoustic holography (NAH) using an inverse boundary element method. In order to avoid this instability in the inverse problem, the reconstruction process should include some form of regularization for enhancing the resolution of source images. The usual method of regularization has been the truncation of wave vectors associated with small singular values, although the order of an optimal truncation is difficult to determine. In this paper, a wavelet transformation is applied to reduce the computation time for inverse acoustics and to enhance the reconstructed vibration field. The computational speed-up is achieved, with solution time being reduced to $14.5\%$.

• Geomechanics and Engineering
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• v.33 no.5
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• pp.427-437
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• 2023

The objective of this work is to study the wave propagation of an FGM plate via a new integral inverse shear model with temperature-dependent material properties. In this contribution, a new model based on a high-order theory field of displacement is included by introducing indeterminate integral variables and inverse co-tangential functions for the presentation of shear stress. The temperature-dependent properties of the FGM plate are assumed mixture of metal and ceramic, and its properties change by the power functions of the thickness of the plate. By applying Hamilton's principle, general formulas of wave propagation were obtained to plot the phase velocity curves and wave modes of the FGM plate with simply supported edges. The effects of the temperature and volume fraction by distributions on wave propagation of the FGM plate are investigated in detail. The results of the dispersion and the phase velocity curves of the propagation wave in the functionally graded plate are compared with previous research.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Journal of the Korean Society of Combustion
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• v.13 no.1
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• pp.23-30
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• 2008

An analytical expression for the turbulent burning velocity is derived from the asymptotic zone conditional transport equation at the leading edge. It is given as a sum of laminar and turbulent contributions, the latter of which is given as a product of turbulent diffusivity in unburned gas and inverse scale of wrinkling at the leading edge. It was previously shown that the inverse scale is equal to four times the maximum flame surface density in the wrinkled flamelet regime [1]. The linear behavior between $U_T$ and u' shows deviation with the inverse scale decreasing due to the effect of a finite flamelet thickness at higher turbulent intensities. DNS results show that $U_T/S^0_{Lu}$ may be given as a function of two dimensionless parameters, $u'/S^0_{Lu}$ and $l_t/\delta_F$, which may be transformed into another relationship in terms of $u'/S^0_{Lu}$, and Ka. A larger $l_t/{\delta}_F$ or a smaller Ka leads to a smaller scale of wrinkling, hence a larger turbulent burning velocity in the limited range of $u'/S^0_{Lu}$. Good agreement is achieved between the analytical expression and the turbulent burning velocities from DNS in both wrinkled and thickened-wrinkled flame regimes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1299-1302
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• 2005

Current mechanical devices are trending toward being a small size, high speedy, automation. For performing these functions, machinery elements organizing a machine should be designed exactly. Cams have high confidence and economics in ablility to transmit a motion. Accordingly, A cam mechanism is very important for processing the machine automatically. This paper introduce an inverse cam mechanism. A square shaped cam which cannot be commonly analyzed is designed and manufactured by using the NURBS interpolation algorithm. The objective of this paper is to develop a computer-aided design program. In this paper, a displacement curve of oscillating motion inverse cam mechanism with square shaped follower is analyzed. The data is redistibuted by the NURBS algorithm. A cam shape is designed by the instant velocity center method, and simulated to verify the validity of the operation state.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.837-841
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• 1997

An upper bound elemental technique(UBET) program has been developed to analyze forging load, die-cavity filling and optimum kinematically admissible velocity fields for flashless forging. The simulation for flashless forgings are applied plane and axisymmetric closed-die forging with rib-web type cavity. The kinematically admissible velocity fields for inverse triangular and inverse trapezoidal elements, are used to analyze flashless forging. Experiments have been carried out with pure plasticine billets at room temperature. Theoretical predictions of the forging load in plane-strain and axisymmetric forging are in good agreement with experimental results.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.3
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• pp.379-388
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• 1999

Au upper bound elemental technique(UBET) program has been developed to analyze forging load die-cavity filling and optimum kinematically admissible velocity fields for flashless forging. The simulation for flashless forgings are applied plane-strain and axisymmetric closed-die forging with rib-web type cavity. The kinematically admissible velocity fields for inverse triangular and inverse trapezoidal elements are used to analyze flashless forging,. Experiments have been carried out with pure plasticine billets at room temperature. Theoretical predictions of the forging load in plane-strain and axisymmetric forging are in good agreement with experimental results.