• Journal of the Chungcheong Mathematical Society
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• v.24 no.3
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• pp.437-447
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• 2011

In this paper we present a new variant of the Euler-Chebyshev method for solving nonlinear equations. Analysis of convergence is given to show that the presented methods are at least fifth-order convergent. Several numerical examples are given to illustrate that newly presented methods can be competitive to other known fifth-order methods and the Newton method in the efficiency and performance.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.4
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• pp.9-17
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• 1996

This paper develops a sequential updating method of the Euler parameter generalized coordinates for the machine kinematics and dynamics, The Newton's method is slightly modified so as to utilize the Jacobian matrix with respect to the virtual rotation instead of this with repect to the Euler parameters. An intermediate variable is introduced and the modified Newton's method solves for the variable first. Relational equation of the intermediate variable is then solved for the Euler parameters. The solution process is carried out efficiently by symoblic inversion of the relational equation of the intermediate variable and the iteration equation of the Euler parameter normalization constraint. The proposed method is applied to a kinematic and dynamic analysis with the Generalized Coordinate Partitioning method. Covergence analysis is performed to guarantee the local convergence of the proposed method. To demonstrate the validity and practicalism of the proposed method, kinematic analysis of a motion base system and dynamic analysis of a vehicle are carried out.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.591-593
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• 2005

This paper presents the dynamic analysis of a humanoid robot using Nastran that is one of FEM analysis program. Generally, computer program based on the Lagrange-Euler method or Newton-Euler method was used for dynamic analysis of a robot. The Lagrange-Euler method requires much calculation performance and it is also hard to apply to complex structure, and the Newton-Euler method limits accurate modeling and calculation for closed structure like a humanoid robot. In this paper, mechanical and structural data are obtained from the Nastran. It is possible for Nastran to make model similar to real system and can apply a physical properties and laws to model. So, accurate simulation is possible. From this result, accurate data is gained by Nastran. Furthermore, this method is shown to be a useful method that guarantees accuracy for trajectory planning.

• Journal for History of Mathematics
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• v.27 no.2
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• pp.127-138
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• 2014

In this paper we investigate how Newton discovered the generalized binomial theorem. Newton's binomial theorem, or binomial series can be found in Calculus text books as a special case of Taylor series. It can also be understood as a formal power series which was first conceived by Euler if convergence does not matter much. Discovered before Taylor or Euler, Newton's binomial theorem must have a good explanation of its birth and validity. Newton learned the interpolation method from Wallis' famous book ${\ll}$Arithmetica Infinitorum${\gg}$ and employed it to get the theorem. The interpolation method, which Wallis devised to find the areas under a family of curves, was by nature arithmetrical but not geometrical. Newton himself used the method as a way of finding areas under curves. He noticed certain patterns hidden in the integer binomial sequence appeared in relation with curves and then applied them to rationals, finally obtained the generalized binomial sequence and the generalized binomial theorem.

• 한국전산유체공학회:학술대회논문집
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• 1998.11a
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• pp.153-159
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• 1998

The Newton-Krylov method on the unstructured grid flow solver using the cell-centered spatial discretization oi compressible Euler equations is presented. This flow solver uses the reconstructed primitive variables to get the higher order solutions. To get the quadratic convergence of Newton method with this solver, the careful linearization of face flux is performed with the reconstructed flow variables. The GMRES method is used to solve large sparse matrix and to improve the performance ILU preconditioner is adopted and vectorized with level scheduling algorithm. To get the quadratic convergence with the higher order schemes and to reduce the memory storage. the matrix-free implementation and Barth's matrix-vector method are implemented and compared with the traditional matrix-vector method. The convergence and computing times are compared with each other.

• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• East Asian mathematical journal
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• v.33 no.1
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• pp.53-65
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• 2017

Numerical solutions of the Rosenau-Burgers equation based on the cubic B-spline finite element method are introduced. The backward Euler method is used for discretization in time, and the obtained nonlinear algebraic system is changed to a linear system by the Newton's method. We show that those methods are unconditionally stable. Two test problems are studied to demonstrate the accuracy of the proposed method. The computational results indicate that numerical solutions are in good agreement with exact solutions.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.20 no.3
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• pp.243-259
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• 2016

The Richards equation for water movement in unsaturated soil is highly nonlinear partial differential equations which are not solvable analytically unless unrealistic and oversimplifying assumptions are made regarding the attributes, dynamics, and properties of the physical systems. Therefore, conventionally, numerical solutions are the only feasible procedures to model flow in partially saturated porous media. The standard Finite element numerical technique is usually coupled with an Euler time discretizations scheme. Except for the fully explicit forward method, any other Euler time-marching algorithm generates nonlinear algebraic equations which should be solved using iterative procedures such as Newton and Picard iterations. In this study, lumped mass and distributed mass in the frame of Picard and Newton iterative techniques were evaluated to determine the most efficient method to solve the Richards equation with finite element model. The accuracy and computational efficiency of the scheme and of the Picard and Newton models are assessed for three test problems simulating one-dimensional flow processes in unsaturated porous media. Results demonstrated that, the conventional mass distributed finite element method suffers from numerical oscillations at the wetting front, especially for very dry initial conditions. Even though small mesh sizes are applied for all the test problems, it is shown that the traditional mass-distributed scheme can still generate an incorrect response due to the highly nonlinear properties of water flow in unsaturated soil and cause numerical oscillation. On the other hand, non oscillatory solutions are obtained and non-physics solutions for these problems are evaded by using the mass-lumped finite element method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.11
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• pp.1820-1828
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• 2001

The dynamics of the 6-3 Stewart platform manipulator (SPM) is newly derived based on the kinematic relations particularly developed fur the SPM. The essence of the analysis is to deal with three subsystems of the SPM, each consisting of the command and feedback line links associated with two joined neighboring actuators. The dynamics of the command and feedback line links are first formulated using Lagrange and Newton-Euler method and then combined to derive the dynamic equations of motion fur the SPM. The derived nonlinear equations of motion are so computationally effective that it can be easily applied to real-time high-speed tracking control of 6-3 SPM.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.5-8
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• 1986

The simulation algorithm for all kinds of robots with arbitrary degrees of freedom which are combined with revolute joints or prismatic joints, or combinations was studied and implemented. This simulation package is composed of trajectory planning routine, control routine, kinematics routine using Newton-Raphson method, dynamics based on Newton-Euler method with four-bar linkage analysis, input routine and output routine.