• Journal of the Korean Society for Precision Engineering
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• v.22 no.1
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Kyungpook Mathematical Journal
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• v.48 no.4
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• pp.665-684
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• 2008

Runge-Kutta-Nystr$\"{o}$m (RKN) methods provide a popular way to solve the initial value problem (IVP) for a system of ordinary differential equations (ODEs). Users of software are typically asked to specify a tolerance ${\delta}$, that indicates in somewhat vague sense, the level of accuracy required. It is clearly important to understand the precise effect of changing ${\delta}$, and to derive the strongest possible results about the behaviour of the global error that will not have regular behaviour unless an appropriate stepsize selection formula and standard error control policy are used. Faced with this situation sufficient conditions on an algorithm that guarantee such behaviour for the global error to be asympotatically linear in ${\delta}$ as ${\delta}{\rightarrow}0$, that were first derived by Stetter. Here we extend the analysis to cover a certain class of ODEs with low-order derivative discontinuities, and the class of ODEs with constant delays. We show that standard error control techniques will be successful if discontinuities are handled correctly and delay terms are calculated with sufficient accurate interpolants. It is perhaps surprising that several delay ODE algorithms that have been proposed do not use sufficiently accurate interpolants to guarantee asymptotic proportionality. Our theoretical results are illustrated numerically.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.165-175
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• 2000

In recent years, it becomes a very important issue to consider the mechanical systems such as high-speed vehicles and railway trains moving on elastic beam structures. In this paper, a general approach, which can predict the dynamic behavior of constrained mechanical system and elastic beam structure, is proposed. Also, various supporting conditions of a foundation support are considered for the elastic beam structures. The elastic structure is assumed to be a nonuniform and linear Bernoulli-Euler beam with proportional damping effect. Combined Differential-Algebraic Equations of motion are derived using multibody dynamics theory and Finite Element Method. The proposed equations of motion can be solved numerically using generalizd coordinate partitioning method and Predictor-Corrector algorithm, which is an implicit multi-step integration method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.898-901
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• 2004

Since soil-structure interactions are one of the most important subjects in the structural/foundation engineering, much study concerning the soil-structure interactions had been carried out. One of typical structures related to the soil-structure interactions is the strip foundation which is basically defined as the beam or strip rested on or supported by the soils. At the present time, lack of studies on dynamic problems related to the strip foundations is still found in the literature. From these viewpoint, this paper aims to theoretically investigate dynamics of the circular strip foundations and also to present the practical engineering data for the design purpose. Differential equations governing the free, out-of-plane vibrations of such strip foundations are derived, in which effects of the rotatory and torsional inertias and also shear deformation are included although the warping of the cross-section is excluded. Governing differential equations subjected to the boundary conditions of corresponding end constraints are numerically solved for obtaining the natural frequencies and mode shapes by using the numerical integration technique and the numerical method of non-linear equation.

• International Journal of Air-Conditioning and Refrigeration
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• v.11 no.1
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• pp.1-9
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• 2003

The examinations of the operating mechanism of an oscillating capillary tube heat pipe (OCHP) using the visualization method revealed that the working fluid in the OCHP oscillated to the axial direction by the contraction and expansion of vapor plugs. The contraction and expansion were due to the formation and extinction of bubbles in the evaporating and condensing part, respectively The actual physical mechanism, whereby the heat which was transferred in such an OCHP was complex and not well understood. In this study, a theoretical model of the OCHP was developed to model the oscillating motion of working fluid in the OCHP. The differential equations of two-phase flow were applied and simultaneous non-linear partial differential equations were solved. From the analysis of the numerical results, it was found that the oscillating motion Of working fluid in the OCHP was affected by the operation and design conditions such as the heat flux, the charging ratio of working fluid and the hydraulic diameter of flow channel. The simulation results showed that the proposed model and solution could be used for estimating the operating mechanism in the OCHP.

• Advances in concrete construction
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• v.15 no.5
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• pp.303-312
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• 2023

The present study investigates the effects of Cattaneo-Christov thermal effects of stagnation point in Walters-B nanofluid flow through lubrication of power-law fluid by taking the slip at the interfacial condition. For the solution, the governing partial differential equation is transformed into a series of non-linear ordinary differential equations. With the help of hybrid homotopy analysis method; that consists of both the homotopy analysis and shooting method these equations can be solved. The influence of different involved constraints on quantities of interest are sketched and discussed. The viscoelastic parameter, slip parameters on velocity component and temperature are analyzed. The velocity varies by increase in viscoelastic parameter in the presence of slip parameter. The slip on the surface has major effect and mask the effect of stagnation point for whole slip condition and throughout the surface velocity remained same. Matched the present solution with previously published data and observed good agreement. It can be seen that the slip effects dominates the effects of free stream and for the large values of viscoelastic parameter the temperature as well as the concentration profile both decreases.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.3
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• pp.46-52
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• 2018

A simple Crocco's $n-{\tau}$ time delay model and linear analysis of fluid flow coupled with acoustics are combined to investigate the high frequency combustion instability in the combustion chamber of LOX/hydrocarbon engines. The partial differential equation of the velocity potential is separated into ordinary differential equations, and eigenvalues that correspond to tangential resonance modes in the cylindrical chamber are determined. A general solution is obtained by solving the differential equation in the axial direction, and boundary conditions at the injector face and nozzle entrance are applied in order to calculate the chamber admittance. Frequency analysis of the transfer function is used to evaluate the stability of system. Stability margin is determined from the system gain and phase angle for the desired frequency range of 1T mode. The chamber model with variable baffle length and configurations are also considered in order to enhance the 1T mode stability of the combustion chamber.

• Smart Structures and Systems
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• v.22 no.1
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• pp.105-120
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• 2018

In this paper, the nonlinear free and forced vibration responses of sandwich nano-beams with three various functionally graded (FG) patterns of reinforced carbon nanotubes (CNTs) face-sheets are investigated. The sandwich nano-beam is resting on nonlinear Visco-elastic foundation and is subjected to thermal and electrical loads. The nonlinear governing equations of motion are derived for an Euler-Bernoulli beam based on Hamilton principle and von Karman nonlinear relation. To analyze nonlinear vibration, Galerkin's decomposition technique is employed to convert the governing partial differential equation (PDE) to a nonlinear ordinary differential equation (ODE). Furthermore, the Multiple Times Scale (MTS) method is employed to find approximate solution for the nonlinear time, frequency and forced responses of the sandwich nano-beam. Comparison between results of this paper and previous published paper shows that our numerical results are in good agreement with literature. In addition, the nonlinear frequency, force response and nonlinear damping time response is carefully studied. The influences of important parameters such as nonlocal parameter, volume fraction of the CNTs, different patterns of CNTs, length scale parameter, Visco-Pasternak foundation parameter, applied voltage, longitudinal magnetic field and temperature change are investigated on the various responses. One can conclude that frequency of FG-AV pattern is greater than other used patterns.

• Proceedings of the Korean Nuclear Society Conference
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• 1998.05a
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• pp.149-154
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• 1998

A subcritical reactor driven by a linear proton accelerator has been considered as a nuclear waste incinerator at Korea Atomic Energy Research Institute(KAERI). Since the multiplication factor of a subcritical reactor is less than unity, to compensate exponentially decreasing fission neutrons from spallation reactions are essentially required for operating the reactor in its steady state. furthermore, the profile of accelerator beam currents is very important in controlling a subcritical reactor, because the reactor power varies in accordance of the profile of external neutrons. We have developed a code system to find numerical solutions of reactor kinetics equations, which are the simplest dynamic model for controlling reactors. In a due course of our previous numerical study of point kinetics equations for critical reactors, however, we learned that the same code system can be used in studying dynamic behavior of the subcritical reactor. Our major motivation of this paper is to investigate responses of subcritical reactors for small changes in thermal hydraulic parameters. Building a thermal hydraulic model for the subcritical reactor dynamics, we performed numerical simulations for dynamic responses of the reactor based on point kinetics equations with a source term. Linearizing a set of coupled differential equations for reactor responses, we focus our research interest on dynamic responses of the reactor to variations of the thermal hydraulic parameters in transient phases.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.54-63
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• 2002

In recent years, mechanical systems such as high speed vehicles and railway trains moving on elastic beam structures have become a very important issue to consider. In this paper, a general approach, which can predict the dynamic behavior of a constrained mechanical system moving on a flexible beam structure, is proposed. Various supporting conditions for the foundation support are considered for the elastic beam structure. The elastic structure is assumed to be a non-uniform and linear Bernoulli-Euler beam with a proportional damping effect. Combined differential-algebraic equation of motion is derived using the multi-body dynamics theory and the finite element method. The proposed equations of motion can be solved numerically using the generalized coordinate partitioning method and predictor-corrector algorithm, which is an implicit multi-step integration method.