• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.159-167
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• 2000

A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.488-494
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• 2001

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1580-1586
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• 2003

This paper presents the design and the analysis of a "fish-like underwater robot". In order to develop swimming robot like a real fish, extensive hydrodynamic analysis were made followed by the study of biology of the fishes especially its maneuverability and propel styles. Swimming mode is achieved by mimicking fish-swimming of carangiform. This is the swimming mode of the fast motion using its tail and peduncle for propulsion. In order to generate configurations of vortices that gives efficient propulsion yawing and surging with a caudal fin has applied and in order to submerge and maintain the body balance pitching and heaving motion with a pair of pectoral fin is used. We have derived the equation of motion of PoTuna by two methods. In first method, we use the equation of motion of underwater vehicle with the potential flow theory for the power of propulsion. In second method, we apply the method of the equation of motion of UVM(Underwater Vehicle-Manipulator). Then, we compare these results.

• Journal of KSNVE
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• v.11 no.1
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• pp.118-124
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• 2001

The effect of a concentrated mass on the regions of dynamic instability of an axially oscillating cantilever beam is investigated in this paper. The equations of motion are derived using Kane's method and the assumed mode method. It is found that the bending stiffness is harmonically varied by axial inertia forces due to oscillating motion. Under the certain conditions between oscillating frequency and the natural frequencies, dynamic instability may occur and the magnitude of the bending vibration increase without bound. By using the multiple time scales method, the regions of dynamic instability are obtained. The regions of dynamic instability are found to be depend on the magnitude of a concentrated mass or its location.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.265-271
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• 2005

Randomness exists in engineering. Tolerance, assemble-error, environment temperature and wear make the parameters of a mechanical system uncertain. So the behavior or response of the mechanical system is uncertain. In this paper, the uncertain parameters are treated as random variables. So if the probability distribution of a random parameter is known, the simulation of mechanical multibody dynamics can be made by Monte-Carlo method. Thus multibody dynamics simulation results can be obtained in statistics. A new concept called functional reliability is put forward in this paper, which can be defined as the probability of the dynamic parameters(such as position, orientation, velocity, acceleration etc.) of the key parts of a mechanical multibody system belong to their tolerance values. A flexible mechanical arm with random parameters is studied in this paper. The length, width, thickness and density of the flexible arm are treated as random variables and Gaussian distribution is used with given mean and variance. Computer code is developed based on the dynamic model and Monte-Carlo method to simulate the dynamic behavior of the flexible arm. At the same time the end effector's locating reliability is calculated with circular tolerance area. The theory and method presented in this paper are applicable on the dynamics modeling of general multibody systems.

• Korean Journal of Childcare and Education
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• v.16 no.5
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• pp.105-126
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• 2020

Objective: This study aimed to reveal pre-service early childhood teachers' perception of children's environmental education using concept mapping and demonstrating its importance. Methods: Based on Kane and Trochim's(2007) procedure, 33 pre-service early childhood teachers conducted brainstorming and statement writing, and then the importance of selected statements were rated by 202 pre-service early childhood teachers. Selected statements were analyzed through multidimensional scaling and hierarchical cluster analysis. Results: Pre-service early childhood teachers perceived children's environmental education as concept mapping with 2-dimensions and eight clusters. The following eight clusters were established (1) daily practice through hands on experience, (2) nature environment, (3) recognizing and coping with environmental issues, (4) environmental preservation practices, (5) environmental sensitivity and consideration, (6) purpose of children's environmental education, (7) necessity for children's environmental education (8) Practice through connection with child's home and community. And then among the eight clusters, the most important was recognized as 'daily practice through hands on experience', and among the statements 'young children learn through the method of playing in nature and experience nature' was considered the most important. Conclusion/Implications: Based on these results, we discuss the importance of children's environmental education of pre-service early childhood teachers and how to support to develop teacher's training program.

• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.2
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• pp.16-29
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• 1995

In this study a tracked vehicle is idealized as a 2-dimensional 9-degrees-of-freedom model which takes into account the effects of HSU units, torsion bars, and track. For the model equations of motion are derived using Kane's method. By using the equations of motion, a numerical example is solved and results are compared to those obtained by using a general purpose multi body dynamic analysis program. The comparison study shows the reasonable coherence between the two results. which confirms the effectiveness of the model. With the model, dynamic response optimization is carried out. The objective function is the peak value of the vertical acceleration of the vehicle at the driver's seat, and the constraints are the wheel travel limits, the ground clearance. and the limits of other design variables. Three different sets of design variables are chosen and used for the optimization. The results show the attenuation of the acceleration peak value. Thus the procedure presented in this study can be utilized for the design improvement of the real system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.4
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• pp.458-468
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• 2016

Electromechanical model for analyzing a multimodal piezoelectric energy harvester comprising three connected beams is presented in this paper. This system consists of three beams which are connected alternately. The piezoelectric layer is only attached to the middle beam. With this special structural configuration, the first, second, and third natural frequencies are congregated so that the energy harvester can generate meaningful amount of power consistently when the main frequency component of the excitation varies around the lowest three natural frequencies of the harvester. To investigate the dynamic and electric response of the piezoelectric energy harvester, an electromechanical model is developed using the Kane's method and the accuracy of the model is validated by comparing the results obtained with the model with those obtained with the commercial software ANSYS. The results show that the piezoelectric energy harvester comprising three connected beams has much broader power generating frequency range than that of the conventional piezoelectric energy harvester.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.285-287
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• 2014

Equations of motion for the vibration analysis of rotating pre-twisted beams with functionally graded material properties are derived in this paper. Based on Timoshenko beam theory, the effects of shear and rotary inertia are considered. The pre-twisted beam has a rectangular cross-section and is mounted on a rotating rigid hub with a setting angle. Functionally graded material (FGM) properties are considered along the height direction of the beam. The equations of stretching and bending motion are derived by Kane's method employing hybrid deformation variables. To validate the derived equations, natural frequencies of a rotating FGM pre-twisted beam are compared to those obtained by a commercial software ANSYS. The effects of the pre-twisted angle, slenderness ratio, hub radius, volume fraction exponent, and angular speed on the modal characteristics of the system are investigated with the proposed model.

• Fashion & Textile Research Journal
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• v.18 no.3
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• pp.272-281
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• 2016

From the year 2000 on, Seoul has aimed to be a fashion city, and thus has been supporting young designers through Seoul Fashion Creative Studio, Generation Next, Le Dome, Concept Korea, etc. London is famous for nurturing young designers through the joint help of government, schools and industries: Alexander McQueen, Christopher Kane and Peter Pilotto are successful cases. Therefore, this research aims to suggest a direction for policies aimed at helping young designers in the international market, on the basis of London's nurturing programs and ideas from a literature review and case studies. The results are below. Firstly, a step-by-step supporting program is recommended. Secondly, long-lasting, sustainable programs are considered essential to support designers after the end of their contracts. Thirdly, practical assistance is preferred to monetary funding in order to lighten the designers' lot and in the interests of transparency. The mentoring service should be strengthened for the designers to eventually become independent. The support should be tailor-made according to items. Fourthly, the supporting programs should be promoted. Fifthly, government and industries should collaborate. Sixthly, 'de minimis' against overlapped support should be legislated. For these, the change of supporting method can be helpful; an independent administrative organisation plans and collects funds from governments and companies. Through these programs and any subsequent studies, Seoul could become a fashion city where young designers play active roles at a global level.