• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1641-1644
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• 2005

Magnetic actuation utilizes the mechanic torque that is the result of interaction of the current in a coil with an external magnetic field. A main obstacle is, however, that torques can only be produced perpendicular to the magnetic field. In addition, there is uncertainty in the Earth magnetic field models due to the complicated dynamic nature of the field. Also, the magnetic hardware and the spacecraft can interact, causing both to behave in undesirable ways. This actuation principle has been a topic of research since earliest satellites were launched. Earlier magnetic control has been applied for nutation damping for gravity gradient stabilized satellites, and for velocity decrease for satellites without appendages. The three axes of a micro-satellite can be stabilized by using an electromagnetic actuator which is rigidly mounted on the structure of the satellite. The actuator consists of three mutually-orthogonal air-cored coils on the skin of the satellite. The coils are excited so that the orbital frame magnetic field and body frame magnetic field coincides i.e. to make the Euler angles to zero. This can be done using a Neural Network controller trained by PD controller data and driven by the difference between the orbital and body frame magnetic fields.

• International Journal of Vascular Biomedical Engineering
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• 제2권2호
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• pp.16-26
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• 2004

The object of this study is to develop a mathematical model of the hemodialysis system including the mechanism of solute kinetics, water exchange and also cardiovascular dynamics. The cardiovascular system model used in this study simulates the short-term transient and steady-state hemodynamic responses such as hypotension and disequilibrium syndrome (which are main complications to hemodialysis patients) during hemodialysis. It consists of a 12 lumped-parameter representation of the cardiovascular circulation connected to set-point models of the arterial baroreflexes, a kinetic model (hemodialysis system model) with 3 compartmental body fluids and 2 compartmental solutes. We formulate mathematically this model in terms of an electric analog model. All resistors and most capacitors are assumed to be linear. The control mechanisms are mediated by the information detected from arterial pressoreceptors, and they work on systemic arterial resistance, heart rate, and systemic venous unstressed volume. The hemodialysis model includes the dynamics of urea, creatinine, sodium and potassium in the intracellular and extracellular pools as well as fluid balance equations for the intracellular, interstitial, and plasma volumes. Model parameters are largely based on literature values. We have presented the results on the simulations performed by changing some model parameters with respect to their basal values. In each case, the percentage changes of each compartmental pressure, heart rate (HR), total systemic resistance (TSR), ventricular compliance, zero pressure filling volume and solute concentration profiles are represented during hemodialysis.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.371-376
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• 2005

Relative contributions of lower extremity joints on the support moment were investigated in this study. Three-dimensional gait analyses were performed in normal walking and in unexpected step-down walking. For both gait studies, inverse dynamics were performed to obtain each joint moment of the lower extremity, which was applied to the forward dynamics simulation to determine the contributions on the support moment at different phases of walking. The forward dynamic simulation results showed that, in normal walking, the ankle plantar flexors contributed significantly during single-limb-support. However, the ankle plantar flexors, knee extensors and hip extensors worked together during double-limb-support. In unexpected step-down walking, the important contributors on the support of the body during single-limb-support were not only ankle plantar flexors but also knee extensors. This study, analyzing the relative contributions of the lower limb joint moments for the body support, would be helpful to understand different unexpected walking conditions and compensatory mechanisms for various pathological gaits.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.137-145
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• 2011

This paper suggests possible rear body shape modifications of a passenger car for the improvement of aerodynamic performance, based on the CFD analysis results. YF SONATA, a passenger car of Hyundai Motors Company, plays a major role as the baseline car in this research. Representatively, three parts(trunk rear edge, side rear edge and rear undercover) are modified in a small range in order for the total outer shapes not to be changed enough so that the modified car is not considered different, compared with the baseline. Specifically, using computational fluid dynamics, aerodynamic drag reduction is accomplished maximally about 11% in this research. Finally, it is proved that although the range of changes of the rear body shapes of a passenger car is very strictly confined, by changing a small range of rear body shapes alone the enhancement of aerodynamic performance of a passenger car can be significantly accomplished.

• Wind and Structures
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• 제2권4호
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• pp.305-323
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• 1999

Accurate turbulence modeling is an essential prerequisite for the use of Computational Fluid Dynamics (CFD) in Wind Engineering. At present the most popular turbulence model for general engineering flow problems is the ${\kappa}-{\varepsilon}$ model. Models such as this are based on the isotropic eddy viscosity concept and have well documented shortcomings (Murakami et al. 1993) for flows encountered in Wind Engineering. This paper presents an objective assessment of several available alternative models. The CFD results for the flow around a full-scale (6 m) three-dimensional surface mounted cube in an atmospheric boundary layer are compared with recently obtained data. Cube orientations normal and skewed at $45^{\circ}$ to the incident wind have been analysed at Reynolds at Reynolds number of greater than $10^6$. In addition to turbulence modeling other aspects of the CFD procedure are analysed and their effects are discussed.

• Structural Engineering and Mechanics
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• 제8권3호
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• pp.257-272
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• 1999

In this paper a simple finite element is proposed for analyzing out of plane vibration of thin walled curved beams, with both open and closed sections, considering shear flexibility. The present element is obtained from a variational formulation governing the dynamics of a three-dimensional elastic body in which the stress tensor as well as the displacements are variationally independent. The element has two nodes with four degrees of freedom in each. Numerical examples for the first six frequencies are performed in order to assess the accuracy of the finite element formulation and to show the influence of the shear flexibility on the dynamics of the member.

• 한국의류학회지
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• 제36권10호
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• pp.1050-1057
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• 2012

This study helps develop a cool body armor that maintains a tight-fit configuration to the body surface and evaluates the performance of newly developed body armor in a wear test. Three types of body armor were used for evaluation. One was a tight fitting body armor that was constructed to improve the degree of fit and ease of movement for Korean soldier using 3D technology. Another was ventilating body armor with attached spacers on the shoulder to reduce the thermal stress on the soldier. The third was a prevailing body armor produced by a Korean body armor company. In order to evaluate the performance of the body armor, a human wear test, a thermal mannequin test, and computational fluid dynamics (CFD) were executed. Five subjects participated in the wear test. Subjective wear sensation, total amount of sweat and dynamic change of clothing microclimate were observed during and after exercise on a treadmill; subsequently, it was found that subjects rated tight fitting body armor and ventilating body armor lighter, drier, and easier to move than the conventional body armor (p<.05). Total amount of sweat was the least in the case of ventilating body armor. The thermal resistance and vapor resistance of the ventilating body armor were improved remarkably. In addition, the skin temperature of the ventilating body armor with spacers was lower than the tight fitting body armor by at least $1^{\circ}C$ in the CFD result. It is noted that thermal-wet comfort of the 3D body armor with ventilating feature is superior to the conventional body armor, especially when the ventilating channel is not closed due to a backpack.

• 한국전산유체공학회지
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• 제18권4호
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• pp.9-16
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• 2013

Cavitation on an axi-symmetric hemispherical head-form body was studied using an Reynolds-averaged Navier-Stokes equations solver based on a cell-centered finite volume method. To consider compressibility effects on the vapor phase and cavity interface, a pressure-based compressible flow CFD code was developed. To validate the developed CFD code, cavitating flow around the hemispherical head-form body was simulated using pressure-based incompressible and compressible CFD codes and validated against existing experimental data in the three-way comparison. The cavity shedding behavior, length of re-entrant jet, drag history, and Strouhal number of the hemispherical head-form body were compared between two CFD codes. The results, in this paper, suggested that the computations of cavitating flow with compressibility effects improve the description of cavity dynamics.

• 대한인간공학회지
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• 제30권6호
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• pp.715-725
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• 2011

Objective: This study is aimed at developing Articulated Human Models(AHM) using superquadrics to improve the geometric accuracy of the body shape. Background: The previous work presents the AHM with geometrical simplification such as ellipsoids to improve analysis efficiency. However, because of the simplicity, their physical properties such as a center of mass and moment of inertia are computed with errors compared to their actual values. Method: This paper introduces a three steps method to present the AHM with superquadrics. First, a 3D whole body scan data are divided into 17 body segments according to body joints. Second, superquadric fitting is employed to minimize the Euclidean distance between body segments and superquadrics. Finally, Fee-Form Deformation is used to improve accuracy over superquadric fitting. Results: Our computational experiment shows that the superquadric models give better accuracy of dynamic analysis than that of ellipsoid ones. Conclusion: We generate the AHM composed of 17 superquadrics and 16 joints using superquadric fitting. Application: The AHM using superquadrics can be used as the base model for dynamics and ergonomics applications with better accuracy because it presents the human motion effectively.

• International Journal of Aeronautical and Space Sciences
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• 제8권1호
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.