• 제어로봇시스템학회논문지
• /
• 제18권1호
• /
• pp.28-34
• /
• 2012

Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified.

• 한국추진공학회지
• /
• 제11권2호
• /
• pp.37-46
• /
• 2007

본 연구에서는 접선형 산화제 주입기를 갖는 end-burning 하이브리드 연소기에서 산화제 운동량비에 따른 연소 유동장을 해석하였다. 산화제의 운동량비가 감소할수록 연소효율은 연소기 전 영역에 걸쳐 증대되는 경향이 포착되었으며 이론 혼합분율과 온도장을 통해 연소실 전 영역에서 최적의 연소가 저 운동량비에서 발생됨을 확인하였다. 강한 선회류가 연소실 내부 유동장을 지배하지만 압력장은 비교적 균일한 분포를 보였다. 접선형 산화제 주입기를 가진 연소기는 운동량비에 관계없이 공통적으로 연료와 산화제가 만나는 연소실 상부에서 환형의 고온부가 발생했으며 향후 주요 개선 사항으로 판단되었다.

• Journal of Mechanical Science and Technology
• /
• 제14권4호
• /
• pp.466-476
• /
• 2000

This paper presents atomization characteristics of a double impinging F -0-0- F type injector with four streams. A phase Doppler particle analyzer was employed to measure the droplet-size and water was used as the inert simulant liquid instead of reactive propellant liquids. The droplet mean diameter (SMD) and size distribution were measured to investigate the effects of the momentum ratio and pressure drop variations. This experimental results can be used during the preliminary design stage of a impinging stream type injector for liquid rockets.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• 제13권2호
• /
• pp.73-86
• /
• 2009

The problem of thermal stability of an exothermic reactive viscous fluid between two parallel walls in the plane Poiseuille and Couette flow configurations is investigated for different thermal boundary conditions. Neglecting reactant consumption, the closed-form solutions obtained from the momentum equation was inserted into the energy equation due to dissipative effect of viscosity. The resulting energy equation was analyzed for criticality using the variational method technique. The problem is characterized by two parameters: the Nusselt number(N) and the dynamic parameter($\Lambda$). We observed that the thermal and dynamical boundary conditions of the wall have led to a significant departure from known results. The influence of the variable pre-exponential factor, due to the numerical exponent m, also give further insight into the behavior of the system and the results expressed graphically and in tabular forms.

• 한국추진공학회지
• /
• 제19권4호
• /
• pp.61-68
• /
• 2015

초임계 연소에 대한 기초연구로써 축소형 액체 로켓 엔진에서 기체산소/케로신, 기체아산화질소/에탄올 추진제 조합의 정상상태 연소의 분무를 관찰하고 비교하였다. 분무의 가시화에는 shadowgraph 기법을 사용하였으며 실험결과를 분석하기 위해 shadowgraph를 후처리하여 밀도구배강도 이미지를 사용하였다. 정상상태 연소압력이 동일한 조건에서 기체산소/케로신 추진제의 액체 제트 표면의 굴곡이 심하고 분사기 팁 근처에서 급격한 밀도구배를 보이는 것이 관찰되었다. 밀도구배강도의 평균 이미지에서 분무 중심 길이를 도출하였으며 더 낮은 운동량 플럭스 비 조건에서도 기체산소/케로신의 분무중심 길이가 더 짧은 것으로 나타났다.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 1999년도 춘계 학술대회논문집
• /
• pp.199-204
• /
• 1999

Three dimensional numerical analysis for the turbulent reactive flow and radiative heat transfer in the walking beam type of a reheat furnace in POSCO has been carried out by the industrial code FLUENT. Computations an based on the conservation equations of mass, momentum, energy and species with the $k-{\varepsilon}$ turbulence model and mixture fraction/PDF(Probability Density Function) approach for the combustion rate. Radiative heat transfer is computed by the discrete ordinates radiation model in combination with the weighted-sum-of-gray-gas model for the absorption coefficient of gas medium. The predicted temperture distribution in the reheat furnace and energy flow fractions are in reasonable agreement with the measurement data.

• 한국공작기계학회논문집
• /
• 제16권1호
• /
• pp.75-79
• /
• 2007

The cathode design is one of the most important parts in order to enhance the performance of fuel cells. A 3-D model of the porous oxygen reducing cathode with perforated current collectors is analysed for the enhanced design in fuel cells. Simulation is performed using equations of electric potential balance, momentum balance, and mass balance. The gas concentrations are quite large and are significantly affected by the reactions that take place. The weight fraction of oxygen, velocity field for the gas phase, and local overvoltage are illustrated in the porous reactive cathode layer. The current density is also analysed and the result shows the distribution and variation are stated in a wide range. It is found that the rate of reaction and the current production is higher beneath the orifice, and decreases as the distance to the gas inlet increases. The significance of the results is discussed in the viewpoint of the mass transportation phenomena, which is inferred that the mass transport of reactants dictates the efficiency of the electrode in this design and at these conditions.

• 한국추진공학회:학술대회논문집
• /
• 한국추진공학회 2004년도 제22회 춘계학술대회논문집
• /
• pp.186-191
• /
• 2004

The reactive flowfield of the transverse injecting combustor has been studied using Euler-Lagrange method in order to develop an efficient solution procedure for the understanding of liquid spray combustion in the transverse injecting combustor which has been widely used in ramjets and turbojet afterburners. The unsteady two-dimensional gas-phase equations have been represented in Eulerian coordinates and the liquid-phase equations have been formulated in Lagrangian coordinates. The gas-phase equations based on the conservation of mass, momentum, and energy have been supplemented by combustion. The vaporization model takes into account the transient effects associated with the droplet heating and the liquid-phase internal circulation. The droplet trajectories have been determined by the integration of the Lagrangian equation in the flow field obtained from the separate calculation without considering the iterative effect between liquid and gas phases. The reported droplet trajectories had been found to deviate from the initial conical path toward the flow direction in the very end of its lifetime when the droplet size had become small due to evaporation. The integration scheme has been based on the TEACH algorithm for gas-phase equation, the second order Runge-Kutta method for liquid-phase equations and the linear interpolation between the two coordinate systems. The calculation results has shown that the characteristics of the droplet penetration and recirculation have been strongly influenced by the interaction between gas and liquid phases in such a way that most of the vaporization process has been confined to the wake region of the injector, thereby improving the flame stabilization properties of the flowfield.

• 한국진공학회:학술대회논문집
• /
• 한국진공학회 2014년도 제46회 동계 정기학술대회 초록집
• /
• pp.221-221
• /
• 2014

The present work proposes an improved numerical simulator for design and modification of large area capacitively coupled plasma (CCP) processing chamber. CCP, as notoriously well-known, demands the tremendously huge computational cost for carrying out transient analyses in realistic multi-dimensional models, because electron dissociations take place in a much smaller time scale (${\Delta}t{\approx}10-8{\sim}10-10$) than time scale of those happened between neutrals (${\Delta}t{\approx}10-1{\sim}10-3$), due to the rf drive frequencies of external electric field. And also, for spatial discretization of electron flux (Je), exponential scheme such as Scharfetter-Gummel method needs to be used in order to alleviate the numerical stiffness and resolve exponential change of spatial distribution of electron temperature (Te) and electron number density (Ne) in the vicinity of electrodes. Due to such computational intractability, it is prohibited to simulate CCP deposition in a three-dimension within acceptable calculation runtimes (<24 h). Under the situation where process conditions require thickness non-uniformity below 5%, however, detailed flow features of reactive gases induced from three-dimensional geometric effects such as gas distribution through the perforated plates (showerhead) should be considered. Without considering plasma chemistry, we therefore simulated flow, temperature and species fields in three-dimensional geometry first, and then, based on that data, boundary conditions of two-dimensional plasma discharge model are set. In the particular case of SiH4-NH3-N2-He CCP discharge to produce deposition of SiNxHy thin film, a cylindrical showerhead electrode reactor was studied by numerical modeling of mass, momentum and energy transports for charged particles in an axi-symmetric geometry. By solving transport equations of electron and radicals simultaneously, we observed that the way how source gases are consumed in the non-isothermal flow field and such consequences on active species production were outlined as playing the leading parts in the processes. As an example of application of the model for the prediction of the deposited thickness uniformity in a 300 mm wafer plasma processing chamber, the results were compared with the experimentally measured deposition profiles along the radius of the wafer varying inter-electrode gap. The simulation results were in good agreement with experimental data.