• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.289-292
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• 1994

In this paper, the equations of motion are constructed systematically for multibody systems containing closed kinematic loops. For the displacement analysis of the closed loops, we introduce a new mixed coordinates by adding to the reference coordinates, relative coordinates corresponding to the degrees of freedom of the system. The mixed coordinates makes easy derive the explicit closed form solution. The explicit functional relationship expressed in closed form is of great advantages in system dimension reduction and no need of an iterative scheme for the displacement analysis. This forms of equation are built up in the general purpose computer program for the kinematic and dynamic analysis of multiboty systems.

• Bulletin of the Korean Chemical Society
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• v.24 no.6
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• pp.785-791
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• 2003

We have studied the folding mechanism of β-hairpins from proteins of 1GB1, 3AIT and 1A2P by unfolding simulations at high temperatures. The analysis of trajectories obtained from molecular dynamics simulations in explicit aqueous solution suggests that the three β-hairpin structures follow different mechanism of folding. The results of unfolding simulations showed that the positions of the hydrophobic core residues influence the folding dynamics. We discussed the characteristics of different mechanisms of β-hairpin folding based on the hydrogen-bond-centric and the hydrophobic-centric models.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.190-199
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• 1993

In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.

• Bulletin of the Korean Chemical Society
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• v.29 no.4
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• pp.741-748
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• 2008

We have studied the folding mechanism of $\beta$ -hairpins in the proteins 1GB1, 3AIT and 1A2P by conducting unfolding simulations at moderately high temperatures. The analysis of trajectories obtained from molecular dynamics simulations in explicit aqueous solution suggests that the positions of the hydrophobic core residues lead to subtle differences in the details of folding dynamics. However, the folding of three different hairpins can be explained by a unified mechanism that is a blend of the hydrogen-bond-centric and the hydrophobiccentric models. The initial stage of $\beta$-hairpin folding involves various partially folded intermediate structures which are stabilized by both the van der Waals interactions of hydrophobic core residues and the electrostatic interactions of non-native hydrogen bonds. The native structure is obtained by forming native contacts in the final tune-up process. Depending on the relative positions of the hydrophobic residues, the actual mechanism of hairpi n folding may or may not exhibit well-defined intermediates.

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.181-189
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• 1998

A numerical study based on the three-dimensional Reynolds averaged Navier-Stokes equations is presented to analyze the transonic flowfield through two-stage axial compressor. Explicit four-step Runge-Kutta scheme is used for solution algorithm, and local time step and implicit residual averaging are introduced for enhancing the convergency. Artificial dissipation model is adopted to assure the stability of solution. The solver is coupled with Baldwin-Lomax model to describe turbulence. To avoid calculating the unsteady flow, a mixing process is modeled at a station between rotating and stationary blade rows. Results show a variety of important physical phenomena. Comparison of the flowfields with and without tip clearance shows that the effect is considerable in this flowfield. Comparisons with experimental data carried out to validate the calculational results show reasonable agreements. Some remedies are also suggested to improve the revealed problems.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.861-867
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• 2003

We propose a sliding surface design method for linear systems with mismatched uncertainties in the state space model. In terms of LMIs, we derive a necessary and sufficient condition for the existence of a linear sliding surface such that the reduced-order equivalent sliding mode dynamics restricted to the linear sliding surface is not only stable but completely invariant to mismatched uncertainties. We give an explicit formula of all such linear switching surfaces in terms of solution matrices to the LMI existence condition. We also give a switching feedback control law, together with a design algorithm. Additionally, we give some hints for designing linear switching surfaces guaranteeing pole clustering constraints or linear quadratic performance bound constraints. Finally, we give a design example in order to show the effectiveness of the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.179-184
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• 1993

In this paper, an optimal motion control scheme is proposed for robot manipulators. A simple explicit solution to the Hamilton-Jacobi equation is presented. The optimization of motion control is based on the mininization of the torque term affecting the kinetic energy and the augmented error which has the first-order stable dynamics for the position and velocity tracking error. In the presence of parametric uncertainty, an adaptive control scheme using the optimal principle is proposed. The global stability of the closed-loop system is guaranteed by the Lyapunov stability approach, The effectiveness and feasibility of the proposed control schemes are shown by simulation results.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.950-953
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• 1988

The equations of motion for linearly elastic bodies undergoing large displacement motion are derived. This produces a set of equations which are efficient to numerically integrate. The equations for the elastic bodies are formulated and simplified to provide as much efficiency as possible in their numerical solution. A futher efficiency is obtained through the use of floating reference frame. The equation are presented in two forms for numerical integration. 1) Explicit numerical integration 2) Implicit numerical integration. In this paper, there was used the numerical integration. The implicit numerical integration is extended to solved second order equation, futher reducing the numerical effort required. The formulation given is seen to be occulate and is expected to be efficient for many types of problems.

• Journal of the Korean Physical Society
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• v.73 no.12
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• pp.1840-1844
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• 2018

Working in an arbitrary Lorentz frame, we address the question of formulating the covariant variational principle for classical, single-particle, dissipative, relativistic mechanics. First, within a Minkowskian geometry, the basic properties of the proper time ${\tau}$ and the covariant velocity $u_{\mu}$ are recapitulated. Next, using a scalar function ${\psi}(x)$ and its negative derivatives ${\varphi}_{\mu}{^{\prime}}s$, we construct a covariant Lagrangian ${\Lambda}$ that generalizes the famous Bateman-Caldirola-Kanai Lagrangian of nonrelativistic frictional mechanics. Finally, we propose a deterministic model for ${\psi}$ (involving the drag coefficient A) whose explicit solution leads to relativistic damped Rayleigh motion in the rest frame of the medium.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.