• Journal of The Korean Society of Agricultural Engineers
• /
• v.56 no.6
• /
• pp.45-53
• /
• 2014

This study presents a system dynamics modeling approach to simulate daily streamflow in a watershed including wastewater treatment plant which contributes to irrigation water supply. The conceptual system dynamics model considering the complex and dynamic hydrological processes in the watershed was developed. The model was calibrated and validated each for two years based on observed flow data. Model performances in terms of $E_{NS}$, RSR, PBIAS, and $R^2$ were 0.64, 0.60, -3.6 %, and 0.64 for calibration period, and 0.66, 0.58, -2.6 %, and 0.66 for validation period, respectively, showing an applicability on generating the daily streamflow. System dynamics modeling approach could help better understand the hydrological behavior of the watershed being reused wastewater for agriculture, by providing graphical dynamics of the hydrological processes as well as conventional rainfall-runoff model results.

• Journal of the Society of Naval Architects of Korea
• /
• v.61 no.4
• /
• pp.247-257
• /
• 2024

The present study suggests a data-driven multivariate identification method based on principal component analysis and shows an application to ship dynamics modeling in maneuver. A reduced order model of ship dynamics is built by linear combination of three principal components acquired from large angle zigzag maneuver test. For a given kinematic state with three variables, a proper span is found by least square method, therefore accompanying hydrodynamic force and moment is determined. Suggested dynamics model correctly estimates hydrodynamic force and moment, thus it showed good agreement in maneuver simulation with that of conventional ship dynamics model obtained by system identification of captive model tests.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2719-2724
• /
• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.51 no.2
• /
• pp.59-68
• /
• 2002

This Paper presents the dynmics modeling and the operation simulation of the 500 MW drum-type boiler and its control system hosted in the Boryung Power Plant unit #1 and #2. The fidelity of the modeling and the operation simulation is well verified by their agreement with the actual data obtained form the plant operation. As a plant signal generator for the various operation patterns and fault situations, the simulation environment will be utilized to develope the fault detecting signal processing algorithms.

• Journal of the Semiconductor & Display Technology
• /
• v.10 no.3
• /
• pp.49-52
• /
• 2011

This paper shows the results of classical molecular dynamics modeling for the interaction between spherical nano abrasive and substrate in chemical mechanical polishing processes. Atomistic modeling was achieved from 3-dimensional molecular dynamics simulations using the Morse potential functions for chemical mechanical polishing. The abrasive dynamics was modeled by three cases, such as slipping, rolling, and rotating. Simulation results showed that the different dynamics of the abrasive results the different features of surfaces. The simulation concerning polishing pad, abrasive particles and the substrate has same results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.12
• /
• pp.993-1000
• /
• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• Journal of Advanced Marine Engineering and Technology
• /
• v.27 no.7
• /
• pp.862-871
• /
• 2003

In this paper, we addressed a modeling for the magnetic levitation stage. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for propulsion. Therefore. this stage can generate six degrees of freedom motion by the combination of forces. We derived a mechanical dynamics equation using Lagrangian method and electromechanical dynamics equation by using Co-energy method. Based on the derived dynamics, we can analyze the stage motion that is subject to the input currents and forces.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.187-187
• /
• 2000

This paper presents the comparison of Euler-Rodrigues quaternion and Euler Angles using attitude kinematics for aircraft flight simulation. It is hard for PC-Level to accomplish real-time simulation. The purpose of this paper is to accomplish real-time simulation of the aircraft dynamics modeling parts and the graphics parts. The computation time is more reduced in case of applying quaternions than Euler Angles. This paper provides a quaternions algorithm and it's applications for the real-time simulation.

• Journal of Mechanical Science and Technology
• /
• v.17 no.12
• /
• pp.1844-1854
• /
• 2003

This paper discusses details of modeling and robust control of an AMB (active magnetic bearing) spindle, and part I presents a modeling and validation process of the AMB spindle. There are many components in AMB spindle : electromagnetic actuator, sensor, rotor, power amplifier and digital controller. If each component is carefully modeled and evaluated, the components have tight structured uncertainty bounds and achievable performance of the system increases. However, since some unknown dynamics may exist and the augmented plant could show some discrepancy with the real plant, the validation of the augmented plant is needed through measuring overall frequency responses of the actual plant. In addition, it is necessary to combine several components and identify them with a reduced order model. First, all components of the AMB spindle are carefully modeled and identified based on experimental data, which also render valuable information in quantifying structured uncertainties. Since sensors, power amplifiers and discretization dynamics can be considered as time delay components, such dynamics are combined and identified with a reduced order. Then, frequency responses of the open-loop plant are measured through closed-loop experiments to validate the augmented plant. The whole modeling process gives an accurate nominal model of a low order for the robust control design.

• Journal of the Society of Naval Architects of Korea
• /
• v.59 no.3
• /
• pp.173-182
• /
• 2022

The present study suggests a procedure of establishing a ship dynamics modeling by regression of free-running model test results. The hydrodynamic force and moment of the whole model ship is derived from the low-pass filtered acceleration in the turning circle and zigzag maneuver tests. Force and moment of the propeller and rudder are separated from that of the whole ship to acquire the hull force and moment terms, based on the principles of the component model. The low-pass filter frequency is verified in prior to dynamics modeling, to find the threshold frequency of 2.5 Hz. The dynamics modeling of the hull is compared with the component modeling by captive model tests. Because of strong correlation between sway velocity, yaw angular velocity, and heel angle, each maneuvering coefficient is not able to be validated, but the whole modeling shows good agreement with the captive model tests.