• 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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.1
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• pp.26-51
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• 2009

In this paper, we propose an empirical framework for modeling and emulating interference in multi-hop wireless ad-hoc networks. Wireless interference causes wide variation in the frame delivery rate at a link, and thus we cannot represent the state of the link with only two states, connected state and disconnected state, as in wired networks. We first investigate wireless interference in detail, in order to accurately calibrate the interference and identify its underlying attributes, and then we simulate the diverse occurrences and effects of interference, after incorporating the scheme into a simulation tool. Based on these observations, we devise a modeling and simulation framework with several control parameters, and perform an extensive set of simulation studies. The simulation results indicate that the proposed framework enables us to examine various attributes of wireless interferences and their effects on wireless network protocols and systems.

• Journal of the Korean Society of Combustion
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• v.22 no.2
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• pp.27-35
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• 2017

This paper reviews the previous industrial solid bed process simulations to provide a better understanding of the modeling approaches to the particle reactions in the bed. Previous modeling studies on waste incinerator, iron ore sintering bed, blast furnace, iron ore pellet indurator, and biomass combustor can be seen on the common ground of unsteady 1-D modeling scheme. Approaches to the particle reaction modeling have been discussed in terms of the status of solid particles in the bed, types of reaction progression in a particle, and the consideration of the intra-particle temperature gradient.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.2
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• pp.20-28
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• 1996

Compound surface modeling is widely used for die cavities and punches. A compound surface is defined in 3-D space by specifying the topological relationship of several anlytic surface elements and a sculptured surface. A constructive solid gemonetry scheme is employed to model the analytic compound surface. the desired compound surface can be accomplished by specifying topological reationship in terms of boolean relations between pimitives and the sculptured surfaces. Additionally, a method is presented for checking and avoiding the tool interference occuued in machining the compound surface. Using this method. the interference of concave, convex, and side region can be checked easily and avoided rpapidly.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1999.12a
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• pp.769-781
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• 1999

Manufacturing systems are usually large, complex, and concurrent in nature that makes it difficult to model and simulate the behavior in advance. The paper proposes an approach, called OPNets, for modeling and validating manufacturing systems. The approach is based on object-oriented high-level Petri nets in which modeling components of Petri net are constructed into object hierarchy. The objects communicate with each other by passing messages. To enhance the reusability and maintainability, a system are developed by object hierarchy. Inheritance among object hierarchy is also supported in OPNets. The modeling scheme of OPNets tries to resolve the complexity problems of Petri net.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.190-194
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• 2004

This paper shows the application of fuzzy system for a modeling of nonlinear biochemical process. A wastewater treatment process for nitrogen removal in a sequencing batch reactor (SBR) is presented and fuzzy systems with different consequent polynomials in the fuzzy rules to model and identify the oxidation reduction potential (ORP) of the process are introduced. The paper compares, analyzes the results of fuzzy modeling, and shows the nonlinear process can be modeled reasonably well by the present scheme.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.1
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• pp.49-56
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• 2002

The Z-map is a special farm of discrete non-parametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[ij]. While the z-map is the simplest farm of representing sculptured surfaces and is the most versatile scheme for modeling non-parametric objects, its practical application in industry (eg, tool-path generation) has aroused much controversy over its weaknesses, namely its inaccuracy, singularity (eg, vertical wall), and some excessive storage needs. Much research or the application of the z-map can be found in various articles, however, research on the systematic analysis of sculptured surface shape representation via the z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) z-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary z-map models, and some application examples.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.630-637
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• 2003

This paper proposes a new modeling scheme to describe the hysteresis and the dynamic characteristics of piezoelectric actuators in the inchworm and develops a control algorithm for the precision motion control. From the analysis of piezoelectric actuator behaviors, the hysteresis can be described by the functions of a maximum input voltage. The dynamic characteristics are also identified by the frequency domain modeling technique based on the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. Therefore, the sliding mode control and the Kalman filter are developed for the precision motion control of the inch-warm. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Journal of the Korea Safety Management & Science
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• v.6 no.4
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• pp.227-238
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• 2004

This development has tried to scheme out the convenience for users to use the 3D modeling solution which is developed from the existing programs. The extended 3D modeling solution, to be developed through the use of the API which is provided and Microsoft Access, database is able to reuse the parts, subassemblies of parts, and assemblies. A methodology exhibits the possibility to use a Spinfire Professional Spinfire Reader program. The web evaluation system, which is used to connected with the Internet explorer and to construct a web service, will repeat the evaluations of the company staffs and customers about the new products which the company have designed. The furniture manufacturing company will adopt the 3D modelling solution in modelling the new products and go through the web evaluation system to collect dissatisfied facts of the customers or the company staffs against the new product. Finally, it will contribute to the enormous benefit creation of the enterprise.

• Korean Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.293-303
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• 1998

The objective of this study is to develop a PC level freeform surface modeling system which explicitly represents information of part geometry. Surface modeler uses nonuniform rational B-spline (NURBS) function with nonuniform knot vector for the flexible modeling work. The results of this study are as follows. 1) By implementation surface modeler through applying representation scheme proposed to represent free-form surface explicity, the technical foundation to develop free-from surface modeling system using parametric method. 2) Besides the role to model geometric shape of a surface, geometric modeler is developed to model arbitrary geometric shape. By doing this, the availability of the modeling system is improved. Geometric modeler can be utilized application fields such as collision test of tool and fixture, and tool path generation for NC machine tool.