• 대한기계학회논문집A
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• 제21권2호
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• pp.352-360
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• 1997

An inverse dynamic procedure for spatial multibody systems containing flexible bodies is developed in the relative joint coordinate space. Constraint acceleration equations are derived in terms of relative coordinates using the velocity transformation technique. An inverse velocity transformation operator, which transforms the Cartesian velocities to the relative velocities, is derived systematically corresponding to the types of kinematic joints connecting the bodies and the system reference matrix. Using the resulting matrix, the joint reaction forces and moments are analyzed in the Cartesian coordinate space. The formulation is illustrated by means of two numerical examples.

• 한국국방경영분석학회지
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• 제24권2호
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• pp.130-145
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• 1998

This paper is concerned with the optimization of a system reliability. Two kinds of the reliability model for optimal allocation of parallel redundancy are considered. The algorithm for solving the optimal redundancy problem is proposed by the use of dynamic programming(DP) method. The problem is approached with a standard DP formulation and the DP algorithm is applied to the model and then the optimal solution is found by the backtracking method. The method is applicable to the models having no constraints or having a cost constraint subject to a specified minimum requirement of the system reliability. A consequence of this study is that the developed computer program package are implemental for the optimization of the system reliability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.311-311
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• 2000

We propose a DP-based formulation for matching line patterns by defining a robust and stable geometric representation that is based on the conceptual organizations. Usually, the endpoint proximity and collinearity of image lines, as two main conceptual organization groups, are useful cues to match the model shape in the scene. As the endpoint proximity, we detect junctions from image lines. We then search for junction groups by using geometric constraint between the junctions. A junction chain similar to the model chain is searched in the scene, based on a local comparison. A Dynamic Programming-based search algorithm reduces the time complexity for the search of the model chain in the scene. Our system can find a reasonable matching, although there exist severely distorted objects in the scene. We demonstrate the feasibility of the DP-based matching method using both synthetic and real images.

• 한국정밀공학회지
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• 제23권2호
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• pp.113-121
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• 2006

This paper established the dynamic model of a flexible Timoshenko beam capable of geometrical nonlinearities subject to large overall motions by using the finite element method. Equations of motion are derived by using Hamilton principle and are formulated in terms of finite elements using CO elements in which the nonlinear constraint equations are adjoined to the system using Lagrange multipliers. In the final formulation are presented Coriolis and Gyroscopic forces as well as linear and nonlinear stiffnesses effects for the forthcoming numerical computation.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• 소음진동
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• 제2권2호
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• pp.125-134
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• 1992

In this study, ti identify the dynamic characteristics of automobile steering system which consists of many components and joints, each component combined structure was analyzed using commercial structural package, ANSYS. And, the finite element method for each component and modeling method of several joints universal joint, bolt joint, bearing, etc. were studied. On the other hand, the experimental modal analysis was performed to compare with the results of the finite element analysis and joint modeling. The result shows very close agreement between two analysis. Also, it was found that the steeing column used in this experiment does not effect the low frequency mode of entire system. In addition, we found that constraint equations need to be considered in modeling universal joint. Since the stiffness effect of Urethane around wheel could be ignored, it can be modeled only with mass effect. In the end, it was found that dynamic characteristics of the entire steerintg system depends mainly upon the wheel characteristics.

• 한국자동차공학회논문집
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• 제2권5호
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• pp.110-120
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• 1994

Due to the increasing demands in comfortable drivability, most motor companies are developing their own unique shift controller to suppress the shift shock induced by gear change. For a typical automatic transmission system, the dynamic constraints of friction clutch was clarified for efficient program development and major factors effecting the shift transient was confirmed by simulation study. The MIMO LQG/LTR controller was designed to control the turbine and corresponding gear speed. By establishing the control strategy recalling transient response during shift the speed controller mentioned above was used as an indirect torque controller. Consequently a new concept for a systematic design method of shift controller applicable to wide-varying systems was suggested which is time efficient and cost efficient saving a lot of experimental study.

• 전기학회논문지
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• 제62권3호
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• International Journal of Internet, Broadcasting and Communication
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• 제7권1호
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• pp.49-56
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• 2015

As WSN is energy constraint so energy efficiency of nodes is important. Because avoiding long distance communication, clustering operating in rounds is an efficient algorithm for prolonging the lifetime of WSN and its performance depends on duration of a round. A short round time leads to frequent re-clustering while a long round time increases energy consume of cluster heads more. So existing clustering schemes determine proper round time, based on the parameters of initial WSN. But it is not appropriate to apply the round time according to initial value throughout the whole network time because WSN is very dynamic networks nodes can be added or vanished. In this paper we propose a new algorithm which calculates the round time relying on the alive node number to adapt the dynamic WSN. Simulation results validate the proposed algorithm has better performance in terms of energy consumption of nodes and loss rate of data.

• 오토저널
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• 제15권1호
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• pp.81-88
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• 1993

A direct treatment of the min-max type objective function of the dynamic response optimization problem is proposed. Previously, the min-max type objective function was transformed to an artificial design variable and an additional point-wise state variable constraint function was imposed, which increased the complexity of the optimization problem. Especially, the design sensitivity analysis for the augmented Lagrangian functional with the suggested treatment is established by using the adjoint variable method and a computer program to implement the proposed algorithm is developed. The optimization result of the proposed treatment are obtained for three typical problems and compared with those of the previous treatment. It is concluded that the suggested treatment in much more efficient in the computational effort than the previous treatment with giving the similar optimal solutions.