• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.809-818
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• 1997

An efficient non-recursive formulation of dynamic force analysis has been developed for serially connected multibody systems. Although derivation of equations of motion is based on a recursive dynamic formulation with joint relative coordinates, in the proposed formulation, dynamic forces such as joint reaction forces and driving force are computed non-recursively for specified joints. The efficiency of the proposed formulation has been proved by the operational count and the CPU time measure, comparing with that of the conventional recursive Newton-Euler formulation. A simulation of 7-DOF RRC robot arm has been carried out to validate solutions of reaction forces by comparing with those from a commercial dynamic analysis program DADS.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.6
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• pp.1265-1272
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• 1988

Kinematic and dynamic equations of open-loop mechanical systems are derived using the velocity transformation. The velocities of a link are defined by the velocities of the previous link and relative velocities between the links. The velocities and angular velocities are expressed with joint velocities and 6*1 velocity transformation vector. Using the velocity relations, recursive formula are derived and compared to the previous results. The derived recursive formula are modified and applied to the dynamic simulation of a vehicle. The computational efficiency of the vehicle simulation with the derived recursive formula is much enhanced.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.3
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• pp.486-494
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• 2001

This paper presents a real-time multibody vehicle dynamic analysis method using recursive Kanes formulation and suspension composite joints. To shorten the computation time of simulation, relative coordinate system is used and the equations of motion are derived using recursive Kanes formulation. Typical suspension systems of vehicles such as MacPherson strut suspension system is modeled by suspension composite joints. The joints are derived and utilized to reduce the computation time of simulation without any degradation of kinematical accuracy of the suspension systems. Using the develop program, a multibody vehicle dynamic model is formed and simulations are performed. Accuracy of the simulation results is compared to the real vehicle field test results. It is found that the simulation results using the proposed method are very accurate and real-time simulation is achieved on a computer with single PowerPC 604 processor.

• Journal of Power System Engineering
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• v.2 no.2
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• pp.73-80
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• 1998

The identification of drilling joint dynamics which consists of drilling and structural dynamics and the on-line time series detection of malfunction process is substantial not only for the investigation of the static and dynamic characteristics but also for the analytic realization of diagnostic and control systems in drilling. Therefore, We have discussed on the comparative assessment of two recursive time series modeling algorithms that can represent the drilling operation and detect the abnormal geometric behaviors in precision roundshape machining such as turning, drilling and boring in precision diemaking. For this purpose, simulation and experimental work were performed to show the malfunctional behaviors for drilling operation. For this purpose, a new two recursive approach (Recursive Extended Instrument Variable Method : REIVM, Recursive Least Square Method : RLSM) may be adopted for the on-line system identification and monitoring of a malfunction behavior of drilling process, such as chipping, wear, chatter and hole lobe waviness.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.136-142
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• 1994

This study presents an algorithm and related techniques which could satisfy the important properties of check weighers and conveyor scales. The algorithm of Recursive Least Squares Regression is described for te weighing system simulated as a dynamic model of the second order. Using the model and the algorithm, model parameters and then the mass being weighed can be determined from the step input. The performance of the algorithm is illustrated in digital simulation. Discussions are extended to the development of fast converging algorithm. It turns out that the algorithm shows several desirable features suitable for microcomputer assisted real-time signal processing, which are high precision and stability in noisy environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.686-689
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• 2005

A numerical simulation method is developed to analyze the dynamic response of a cantilever switch, which is driven by electrostatic force and a basic component of electro-mechanical coupled system. First, point-charges model on conductor is proposed as a lumped parameter of electrical part. Then, this model is easily incorporated into a multi-body dynamics analysis algorithm, the generalized recursive dynamics formula previously developed by our research group. The resulting motion of a coupled overall system is formulated as a differential algebraic equation form including electrical and mechanical variables together. The equation is simultaneously solved in every time step. To implement this approach into the useful dynamics analysis tool, we used multibody dynamics software (RecurDyn) based on the generalized recursive formula using relative coordinate. The developed numerical simulation tool is evaluated by applying to many different driving condition and switch configuration. The final analysis model will be added to RecurDyn as a basic module for dynamics analysis of electro-mechanical coupled system.

• Geomechanics and Engineering
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• v.9 no.2
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• pp.145-167
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• 2015

Digital simulation has recently become the preferred method for designing complex and dynamic systems. Simulation packages provide interactive, block-diagram environment for modeling and simulating dynamic models. The block diagrams in simulation models are flowcharts which describe the components of dynamic systems and their interaction. This paper is the first part of the study for determining the seismic behavior of soil systems. The aim of this part is to present the constructed block diagrams for discrete-time analysis of seismic site amplification in layered media for vertically propagating shear waves. Detailed block diagrams are constructed for single and multiple soil layers by considering wave propagation with and without damping, respectively. The block diagrams for recursive filter to model attenuation in discrete-time form are also constructed. Finite difference method is used for strain calculation. The block diagrams are developed by utilizing Simulink which is a software add-on to Matlab.

• The Journal of the Acoustical Society of Korea
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• v.18 no.8
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• pp.48-53
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• 1999

This paper presents an analytic derivation of the erroneous effect when the sliding-DFT is implemented in a recursive way with the finite-bit approximation of the twiddle factors. The analysis result is obtained in a closed form equation of the noise-to-signal power ratio(NSR) employing the zero-mean white Gaussian signal as the target input of the DFT. The parameters of the wordlength used in representing the twiddle factors and the blocklength of the DFT appear in the NSR explicitly as its function variables. The derivation is based on the error dynamic equation which is derived from the recursive SDFT, and on the analytic exploration of the statistical characteristics of the approximation coefficients treating them as random variables of having spatial distributions. The analytically derived results are verified through the comparison with the data actually measured from the computer simulation experiment.

• Journal of Korean Institute of Industrial Engineers
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• v.33 no.2
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• pp.282-289
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• 2007

While demands for express couriers service are rapidly increasing due to recent progress of electronic commerce, express courier service companies are struggling to take a larger market share through ongoing improvement in their service processes. Cut-off time is the time limit that all orders delivered before the limit are guaranteed for the delivery within the very next day. Extending cut-off time for express service centers can provide the express company with increase of total sales, but it may also cause increasing the possibility not to satisfy customer needs due to work delay in the consolidation terminal. We develop a design model for express courier service network based on a recursive optimization/simulation procedure. With the optimization model, we seek key design parameters such as the cut-off time for express service centers and the capacity of the consolidation terminal maximizing total sales profit while satisfying the desired level of performances. With the simulation model, we consider the dynamic nature of the network and obtain relationships between the design parameters and the performance measures with the multiple linear regression. The validity of the model is examined with an example.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.