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

• Macromolecular Research
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• v.10 no.4
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• pp.194-203
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• 2002

In resin infusion process(RIP), the fiber and the resin are in contact with each other for an impregnation step and often results in flow-induced defects such as poor fiber wetting and void formation. Resin flow characteristics in transverse direction and process modeling for woven fabric were studied, and the process modeling was applied to the manufacturing of hybrid composite materials. This study also considered the compressibility of woven fabrics in a series of compression force, and it was fitted well to an elastic model equation. Void formation was varied with the processing conditions in the stage of manufacturing composites using RIP. It was concluded from this study that proper combination of pressure build-up and dynamic heating condition makes important factor for flow-induced composite processing.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.4
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• pp.363-372
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• 2012

In this study, a new information-based hybrid modeling framework is proposed. In the hybrid framework, a conventional mathematical model is complemented by the informational methods. The basic premise of the proposed hybrid methodology is that not all features of system response are amenable to mathematical modeling, hence considering informational alternatives. This may be because (i) the underlying theory is not available or not sufficiently developed, or (ii) the existing theory is too complex and therefore not suitable for modeling within building frame analysis. The role of informational methods is to model aspects that the mathematical model leaves out. Autoprogressive algorithm and self-learning simulation extract the missing aspects from a system response. In a hybrid framework, experimental data is an integral part of modeling, rather than being used strictly for validation processes. The potential of the hybrid methodology is illustrated through modeling complex hysteretic behavior of beam-to-column connections.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2003.10a
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• pp.67-70
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• 2003

To develop an effective geometric modeling is essential in order that precise mechanical properties and the geometrical properties of the 3-D braided composites can be estimated. RVE(representative volume element) was adopted fur geometrical modeling. RVE consisted of IC(inner unit cell), ISUC(interior surface unit cell) and ESUC(exterior surface unit cell). The whole geometrical model fur hybrid 3-D braided composites was developed.

• Journal of the Korea Society for Simulation
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• v.22 no.1
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• pp.21-30
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• 2013

A hybrid system is a combination of sub systems which have different types of state and time: a typical example is a combination of discrete event and continuous systems. A HDEVS(Hybrid DEVS) formalism was proposed for modeling and analyzing a hybrid system. The HDEVS formalism allows modelers to construct a hierarchical and modular model based on the mathematical set theory. Because the HDEVS formalism was applied to the distributed and interoperated simulators, modelers should make several heterogenous models dividing a target system. Hence, this paper proposes an extended hybrid coupled model of HDEVS formalism and an integrated hybrid modeling methodology in contrast to the existing simulation framework on interoperable simulators. By applying the proposed modeling method, a target system can be translated to a hybrid model in a similar form as the target system. This paper also contains a simulation engine design for the proposed modeling methodlogy and a case study which simulates water tank control systems.

• Journal of KIISE
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• v.42 no.7
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• pp.823-833
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• 2015

Hybrid system is a dynamic system that is composed of both a continuous and discrete system, suitable for automobile, avionic and defense systems. Various modeling languages and their supporting tools have been proposed and used in the hybrid system. The languages and tools have specific characteristics for their purpose. Electronics and Telecommunications Research Institute (ETRI) proposed a hybrid system modeling language, ECML (ETRI CPS Modeling Language). ECML extends DEV&DESS (Differential Event and Differential Equation Specified System) formalism with consideration of CPS (Cyber-Physical System), which supports modeling and simulation. In this paper, we introduce ECML and suggest a formal definition. The case study specifies a simple vehicle model using the suggested formal definition.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.7
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• pp.883-888
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• 2014

The paper describes the parameter tuning of power system stabilizer (PSS) for a power plant based on hybrid system modeling. The existing tuning method based on bode plot and root locus is well applied to keep power system stable. However, due to linearization of power system and an assumption that the parameter ratio of the lead-lag compensator in PSS is fixed, the results cannot guarantee the optimal performances to damp out low-frequency oscillation. Therefore, in this paper, hybrid system modeling, which has a DAIS (differential-algebraic-impusive-switched) structure, is applied to conduct nonlinear modeling for power system and find optimal parameter set of the PSS. The performances of the proposed method are carried out by time domain simulation with a single machine connected to infinite bus (SMIB) system.

• Journal of Computational Design and Engineering
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• v.3 no.2
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• pp.121-131
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• 2016

Organic modeling of 3D characters is a challenging task when it comes to correctly modeling the anatomy of the human body. Most sketch based modeling tools available today for modeling organic models (humans, animals, creatures etc) are focused towards modeling base mesh models only and provide little or no support to add details to the base mesh. We propose a hybrid approach which combines geometrical primitives such as generalized cylinders and cube with Shape-from-Shading (SFS) algorithms to create plausible human character models from sketches. The results show that an artist can quickly create detailed character models from sketches by using this hybrid approach.

• Restorative Dentistry and Endodontics
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• v.45 no.2
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• pp.13.1-13.10
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• 2020

Objective: The aim of this study was to evaluate the influence of different modeling agents on the surface microhardness (Vickers hardness number; VHN), roughness (Ra), and color change (ΔE) of a nano-hybrid composite with or without exposure to discoloration by coffee. Materials and Methods: Sixty-four cylinder-shaped nano-hybrid composite specimens were prepared using a Teflon mold. The specimens' surfaces were prepared according to the following groups: group 1, no modeling agent; group 2, Modeling Liquid; group 3, a universal adhesive (G-Premio Bond); and group 4, the first step of a 2-step self-adhesive system (OptiBond XTR). Specimens were randomly allocated into 2 groups (n = 8) according to the storage medium (distilled water or coffee). VHN, Ra, and ΔE were measured at 24 hours, 1 week, and 6 weeks. The Kruskal-Wallis test followed by the Bonferroni correction for pairwise comparisons was used for statistical analysis (α = 0.05). Results: Storage time did not influence the VHN of the nano-hybrid composite in any group (p > 0.05). OptiBond XTR Primer application affected the VHN negatively in all investigated storage medium and time conditions (p < 0.05). Modeling Liquid application yielded improved Ra values for the specimens stored in coffee at each time point (p < 0.05). Modeling Liquid application was associated with the lowest ΔE values in all investigated storage medium and time conditions (p < 0.05). Conclusion: Different types of modeling agents could affect the surface properties and discoloration of nano-hybrid composites.

• Journal of the Korea Society for Simulation
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• v.10 no.3
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• pp.1-14
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• 2001

A hybrid system is defined as a mixture of continuous systems and discrete event systems. This paper first proposes a framework for hybrid systems modeling, called Hybrid Discrete Event System Specification (HDEVS) formalism. It then presents a method for simulators interoperation in which a continuous system simulator and a discrete event simulator are executed together in a cooperative manner. The formalism can specify a hybrid system in a way that a continuos system and a discrete event system are separately modeled by their own specification formalisms with a support of well-defined interface. We call such interface an A/E converter for analog-to- event conversion and an E/A converter for event-to-analog conversion. Simulators interoperation is based on the concept of pre-simulation in which simulation time for a continuous simulator is advanced in accordance with a discrete event simulator.