• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2546-2550
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• 2003

We propose a new method of robot manipulator modeling. Different from existing modelers, our modeler provides a convenient robot modeling configured from modules from module library or module modeling. In addition, a way of using D-H parameters to configure a robot is proposed. These additional functions of robot modeling can be a powerful and flexible tool for various needs of robot modeling. We show an example of modeling with our approach.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1999년도 가을 학술발표회 논문집
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• pp.378-386
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• 1999

The integrated system for the structural analysis of space frame is made up 4 modules ; pre-process module, structural analysis module, optimum member design module and post-process module. Re-process module of these 4 modules involves data input module and structure modeling module. This study is to develope an efficient modeling program as a basic for development of pre-process module. This modeling program generates geometric information of space frame and performs the input fie form for structure analysis only by input general data. User can mode1 space frame efficiently within shut time by using this program.

• 전기학회논문지
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• 제57권11호
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• pp.1988-1993
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• 2008

Photovoltaic (PV) modules operate over a large range of conditions but manufacturer's information is not sufficient to determine their overall performance. Designers need a reliable tool to predict energy production from a photovoltaic module under all conditions in order to make a sound decision. The modeling method of photovoltaic (PV) module are useful to perform detailed analysis of PV system performance for changing meteorological conditions, verify actual rated power of PV system sizing and determine the optimal design of PV system and components. This paper indicates a modeling approach of PV module performance in terms of meteorological conditions and identifies validity of PV modules modeling by comparing measured with simulated value.

• 한국항공운항학회지
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• 제23권1호
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• pp.49-55
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• 2015

This paper deals with dynamic modeling and controller design of a future Korean lunar module planned to be launched 2020's in Korea. For dynamic modeling of the lunar module, we first assume the lunar module as a rigid body. And we derive equations of motion for the lunar module by considering allocation of main thrusters and reaction thrusters. With the equation of motion, we design the controller based on the quaternion. A Pulse Width Pulse Frequency modulator(PWPFM) is selected for generating on/off signal. Finally, we construct a 2-phase descent mode including initial guidance mode, terminal guidance mode. The MATLAB simulation is performed for evaluating the descent ability and final landing velocity. The dynamic modeling and descent simulation of the lunar module in this paper could be applied for developing the future work of the Korean lunar exploration program.

• 한국강구조학회 논문집
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• 제22권1호
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• pp.99-108
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• 2010

본 연구는 구조상세설계와 모델링 단계에서 활용 가능한 철골 접합부 모델링 자동화 모듈의 개발을 목적으로 한다. 이를 위해 접합부의 구조해석 결과를 3D 모델링의 입력 변수와 표준접합상세지침을 고려하여 라이브러리 D/B로 구축하였다. 구축된 라이브러리 D/B를 접합부 3D 모델링 단계에서 활용하기 위하여 상용 S/W에서 제공하는 OpenAPI 함수를 이용하여 접합부 자동 생성 모듈을 개발하였다. 개발된 모듈을 검증하기 위해 6층 규모의 철골 오피스 구조물을 대상으로 접합부 모델링을 수행하였으며, 접합부 모델링 과정에 대해 기존 프로세스와 연구 프로세스의 비교를 통해 적용성과 효율성을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.753-756
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• 2000

The accumulated know-how and trial-and-error procedures are known as the best ways to determine blank shape and dimensions. One of the most important steps to determine the blank shape and dimensions in deep drawing process is to calculate the surface area of the product. In general, the surface area of products is calculated by mathematical or 3-D modeling methods. A blank design system is constructed for elliptical deep drawing products to recognize the geometry of the product in the long side and short side by drafting in another two layers on AutoCAD software. This system consists of input geometry recognition module, 3-D modeling module and blank design module, respectively. Blank dimension of three types is determined by the same area, which was acquired in 3-D modeling module. The suitability of this system is verified by applying to a real deep drawing product.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.503-504
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• 2009

• 영재교육연구
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• 제19권1호
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• pp.187-205
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• 2009

이 연구의 목적은 과학자의 사고과정을 반영한 모델링 탐구를 적용한 후 모델링에 대한 학생들의 인식을 알아보는 것이다. 기체의 확산, 이온의 전도도, 이온의 이동에 대한 모델링 모듈을 과학고등학교 1학년 학생들을 대상으로 적용하였다. 모델링 모듈에 대한 학생들의 인식을 알아보기 위하여 인터뷰, 실험보고서, 대화 내용을 분석하였다. 학생들은 모델링 탐구가 과학자의 연구과정을 경험할 수 있는 활동이며, 모델링 탐구는 '생각의 근육'을 키우는 활동, '새로운 시각'과 '다양한 표현'이 필요한 활동, '실험 디자인' 과정이 포함된 활동으로 인식하고 있었다. 그러므로 앞으로 다양한 모델링 모듈의 개발이 필요하다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1652-1657
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• 2007

Designer must cope with frequent changes in geometric information of automobile suspension module in the early stage of the design process. The authors developed the PSG(Parametric Set Generator) to create parametric models and to change geometric information concerning the lower arm, which is one of the important parts of the automobile suspension module. CAD models provided from the PSG can be utilized to assess fatigue durability via the FE modeling support system. This system provides easy and fast FE-modeling for a static and durability analysis of the lower arm. The PSG and the FE modeling support system are integrated using the e-engineering framework based on the JADE platform. In this study, a durability analysis as a case study for the lower arm manufactured at H company is performed, and the efficiency obtained is discussed.