• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.188-196
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• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.105-111
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• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.11a
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• pp.953-961
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• 2011

A numerical model of the igniter for the interior ballistics has been developed combining the lumped parameter model with the theoretical equation of the orifice. With the developed model of the igniter, the numerical study on characteristics of the interior ballistics according to the igniter configuration in terms of the igniter length, the side hole diameter, and the distribution of side holes has been conducted. As results of the calculation of the pressure difference between the breech and shot base, the low frequency oscillations have been influenced by the igniter length, while the high frequency oscillations have been affected by the side hole diameter and the distribution of side holes.

• Journal of the Korean Society of Propulsion Engineers
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• v.17 no.2
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• pp.105-113
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• 2013

A numerical model of the igniter for the interior ballistics has been developed by combining lumped parameter model with the theoretical equation of orifice. With the developed model of the igniter, the numerical study on characteristics of the interior ballistics has been conducted according to the igniter configuration in terms of igniter length, side hole diameter, and distribution of side holes. As results of the calculation of the pressure difference between the breech and shot base, the low-cycle oscillations have been influenced by the igniter length, while the high-cycle oscillations have been affected by the side hole diameter and the distribution of side holes.

• Journal of the Korean Association of Geographic Information Studies
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• v.9 no.3
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• pp.171-182
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• 2006

In this study, rainfall-runoff analysis was performed for Yongdam watershed($930km^2$) using KOWACO flood analysis model based on Storage Function Method as lumped hydrologic model and Vflo which was developed for real-time flood prediction by University of Oklahoma. The results shows that, the hydrographs of lumped and distributed model with uncalibrated parameters which estimated from physical or experimental relationship show significant biases from observed hydrographs. However, the hydrograph at Cheoncheon site from the distributed model follows the actual hydrograph to an extent that no more calibration is necessary. It encourages that distributed model can have advantages for application in real-time flood forecasting as physically based distributed hydrologic model which can construct event-independent basin parameter group.

• 전기의세계
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• v.29 no.4
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• pp.256-259
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• 1980

A singular pertubation theory is applied to obtain an approximate solution for suboptimal control of nuclear reactors with spatially distributed parameters. The inverse of the neutron velocity is regarded as a small perturbing parameter, and the model, adopted for simplicity, is a cylindrically symmetrical reactor whose dynamics are described by the one group diffusion equation with one delayed neutron group. The Helmholtz mode expansion is used for the application of the optimal theory for lumped parameter systems to the spatially distributed parameter systems. An asymptotic expansion of the feedback gain matrix is obtained with construction of the boundary layer correction up to the first order.

• 한국전산유체공학회:학술대회논문집
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• 2011.05a
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• pp.266-268
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• 2011

We present a mathematical model of left heart governed by the partial differential equations. This heart is coupled with a lumped model of the whole circulatory system governed by the ordinary differential equations. The immersed boundary method is used to investigate the intracardiac blood flow and the cardiac valve motions of the normal circulation in humans. We investigate the intraventricular velocity field and the velocity curves over the mitral ring and across outflow tract. The pressure and flow are also measured in the left and right heart and the systemic and pulmonary arteries. The simulation results are comparable to the existing measurements.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

• Water for future
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• v.23 no.3
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• pp.319-328
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• 1990

The Parameter Identification of 2-demensional estuarine model was carried out using new output ADI-FDM numerical semi-implicit schem transformed in boundary fitted(BF) - coordinate. The hydrodynamic equations which is coupled with the transport equations were used as basic equations in the model. Thompson's equations were used to transform governing equations into rectangular plane equations and his elliptic grid generation scheme was used to generate curvilinear grid system. in BF - coordinates. The parameters to be identified are friction coefficient and disperse coefficient embedded in the governing equations. The numerical output scheme is tidally averaged salinity model in BF - coordinates. The algorithm to optimize norm of error between observations and calculations is the influence coefficinet algorithm associated with least square criterion. The lumped model is conssidered in identification. This paper was concetrated on checking whether the new output scheme might be useful to identify parameters in estuarine salinity model or not. The proposed method was tested through experimental application with hypothetical simple model. The result of the test shows that the proposed method can be used for parameter identification in estuarine model.

• Journal of Electrical Engineering and Technology
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• v.10 no.1
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• pp.205-215
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• 2015

Common mode (CM) conducted interference are predicted and compared with experiments in a motor drive system of Electric vehicles in this study. The prediction model considers each part as an equivalent circuit model which is represented by lumped parameters and proposes the parameter extraction method. For the modeling of the inverter, a concentrated and equivalent method is used to process synthetically the CM interference source and the stray capacitance. For the parameter extraction in the power line model, a computation method that combines analytical method and finite element method is used. The modeling of the motor is based on measured date of the impedance and vector fitting technique. It is shown that the parasitic currents and interference voltage in the system can be simulated in the different parts of the prediction model in the conducted frequency range (150 kHz-30 MHz). Experiments have successfully confirmed that the approach is effective.