• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.35-43
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• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• Communications of Mathematical Education
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• v.29 no.4
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• pp.699-722
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• 2015

Based on Lagrange's general theory of algebraic equations, by applying the solution of the equation using the relationship between roots and coefficients to the high school 1st grade class, the purpose of this study is to recognize the significance of symmetry associated with the solution of the equation. Symmetry is the core idea of Lagrange's general theory of algebraic equations, and the relationship between roots and coefficients is an important means in the solution. Through the lesson, students recognized the significance of learning about the relationship between roots and coefficients, and understanded the idea of symmetry and were interested in new solutions. These studies gives not only the local experience of solutions of the equations dealing in school mathematics, but the systematics experience of general theory of algebraic equations by the didactical organization, and should be understood the connections between knowledges related to the solutions of the equation in a viewpoint of the mathematical history.

• The KIPS Transactions:PartA
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• v.11A no.7 s.91
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• pp.571-576
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• 2004

In this paper, by using Lagrange polynomial interpolation with a trick such that for $f(x)^{3}$ we shall use $f(x_i)^{3}I_i(x)^{3}$ instead of $I(x)^{3}$ where $I{x}{\;}={\;}\sum_{i}^{f}(x_i)I_i(x)$. We show the convergence and stability and calculate errors. These errors are approximately less than $C(\frac{1}{N})^{N-1} hN(N-1)(\frac{N}{2})^{N-1} /(\frac{N}{2})!$ where N is a polynomial degree.

• Proceedings of the Korea Society for Simulation Conference
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• 1994.10a
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• pp.4-4
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• 1994

미분방정식은 많은 학문에서 현실 세계의 대상을 모형화하고 시뮬레이션하는 데에 매우 유용하게 사용되는 도구이다. 그 중에서도 현실 세계에서 적용되는 물리적 법칙에 근거해서 가상 세계를 만드는 컴퓨터 애니메이션이나 과학적 가시화등의 분양에서는 미분방정식으로 다루고자하는 대상을 모형화하고 시뮬레이션을 통해서 필요한 자료를 추출하는 과정이 필수적이다. 본 연구에서는 현실 세계에 근거한 가상세계를 만들기 위해서 요구되는 물리적 시뮬레이션을 수행하기 위한 방법을 연구하고, 그 소프트웨어를 개발한다. 현실세게를 모형화하는데에 많이 쓰이는 물리학적 방법은 역학에 근거한 미분방정식들이다. 그 중에서도 연립 상미분방정식의 형태로 많이 나타나는 Newton 방정식은 거시적인 물체들간의운동ㅇㄹ 표현하는데에 많이 사용도니다. 그리고 편미분방정식의 형태로 나타나는 Lagrange 방정식은 Hamilton의 원리를 운동방정식에 적용하여 얻은 것으로 Newton 방정식과 관계가 없는 광버무이한 물리적 현상을 표현하는데에 사용된다. 본 연구에서 개발하는 시물레이션 소프트웨어는 연립 상미분방정식으로 모형화되는 대상을 시뮬레이션할 수 있는 방법과 2c, 편미분방정식으로 모형화되는 대상을 시뮬레이션 할 수 있는 방법을 제공한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1038-1044
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• 2009

In this study, vibrations of an electric motor are analyzed when the motor has the interaction between mechanical and electromagnetic behaviors. For this vibration analysis a 3-phase 8-pole brushless DC motor is selected. Vibrations of the motor are influenced by coupled electromechanical characteristics. The variation of air-gap induced by vibration has an influence on the inductance of the motor coil. To analyze dynamic characteristics of the rotor, we studied inductance by the variation of an air-gap. After obtaining the kinetic, potential and magnetic energies for the motor, the equations of motion are derived by using Lagrange's equation. By applying the Newmark time integration method to the equations, the dynamic responses for the displacements and currents are computed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.04a
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• pp.52-56
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• 1993

An efficient method is presented for determining transient responses of locally nonlinear structures using substructure eigenproperties and Lagrange multiplier technique. The method is based upon the mode synthesis formulation procedure, but does not construct the equations of motion of the combined whole structure compared with the conventional methods. For modal bases of each linear substructure, either fixed or free interface modes can be employed. The transient analysis is based upon the recurrence discrete-time state equations and offers the simplicity of the Euler integration method without requiring small time increment and iterative solution procedure. Numerical examples reveal that the method is very accurate and efficient in calculating transient responses compared with the direct numerical integration method.

• Nuclear Engineering and Technology
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• v.24 no.3
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• pp.319-328
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• 1992

The Galerkin formulation of the finite element method is applied to the integral law of the first-order form of the one-group neutron transport equation in one-dimensional spherical geometry. Piecewise linear or quadratic Lagrange polynomials are utilized in the integral law for the angular flux to establish a set of linear algebraic equations. Numerical analyses are performed for the scalar flux distribution in a heterogeneous sphere as well as for the criticality problem in a uniform sphere. For the criticality problems in the uniform sphere, the results of the finite element method, with the use of continuous finite elements in space and angle, are compared with the exact solutions. In the heterogeneous problem, the scalar flux distribution obtained by using discontinuous angular and spatical finite elements is in good agreement with that from the ANISN code calculation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.5
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• pp.1138-1149
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• 1993

A new mode synthesis method using Lagrange multipliers and substructure hybrid interface modes is presented. Substruture governing equations of motion are derived using Lagrange equations and the constraints of geometric compatibility between the substructures are treated with Lagrange multipliers. Fixed, free, and loaded interface modes can be employed for the modal bases of each substructure. In cases of the fixed and loaded interface modes, two successive modal transformation relations are used. Compared with the conventional mode synthesis methods, the suggested method does not construct the equations of motion of the coupled structure and the final characteristic equation becomes a polynomial. Only modal parameters of each substructure and geometric compatibility conditions are needed. The suggested method is applied to a simple lumped mass model and parametric study is performed.

• Journal of Ocean Engineering and Technology
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• v.10 no.3
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• pp.96-104
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• 1996

Hamilton's principle is used to derive Euler-Lagrange equations for free surface flow problems of incompressible ideal fluid. The velocity field is chosen to satisfy the continuity equation a priori. This approach results in a hierarchial set of governing equations consist of two evolution equations with respect to two canonical variables and corresponding boundary value problems. The free surface elevation and the Lagrange's multiplier are the canonical variables in Hamilton's sense. This Lagrange's multiplier is a velocity potential defined on the free surface. Energy is conserved as a consequence of the Hamiltonian structure. These equations can be applied to waves in water of finite depth including generalization of Hamilton's equations given by Miles and Salmon.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.2
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• pp.208-212
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• 2013

Due to the singularity of the within-class scatter, linear discriminant analysis (LDA) becomes ill-posed for small sample size (SSS) problems. An extension of LDA, the null space-based LDA (NLDA) provides good discriminant performances for SSS problems. In this paper, by applying the Lagrange technique, the procedure of transforming the problem of finding the feature extractor of NLDA into a linear equation problem is derived.