• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.482-489
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• 1997

This paper presents the analysis of the kinematics and dynamics of redundant parallel manipulators, and provides design guides for advanced parallel mainpulators with high performance. Three types of redundancies are considered which include the redundancies in serial chain, joint actuation, and parallelism. First, the kinematic and dynamic models of a redundant parallel manipulator are obtained in both joint and Cartesian spaces, and the kinematic and dynamic manipulabilities are defined for the performance evaluation. The effects of the three types of redundancies on the kinematic and dynamic performance of a parallel manipulator are then analyzed and compared, providing a set of guides for the design of advanced parallel manipulators. Finally, the simulation results using planer parallel manipulators are given.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.681-689
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• 2012

In this study, we performed a simulation of the dynamic response of a multibody system to calculate the tension acting on wire ropes connecting floating cranes and a heavy cargo such as a Giga Block weighing over 5000 tons when the cargo is salvaged using parallel connected floating cranes. In this simulation, we supposed that the motion of the floating cranes, barge ship, and heavy cargo has 6 degrees of freedom and that the interaction is determined by constraints among them. In addition, we considered independent hydrostatic and hydrodynamic forces as external forces acting on the floating cranes and barge ship. The simulation result can be a basis for verifying the safety of construction methods in which heavy cargo is salvaged by parallel connected floating cranes, and it can also be used to guide the development of such construction methods.

• Journal of the Korea Society for Simulation
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• v.8 no.1
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• pp.77-88
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• 1999

There are two approaches to handle the Causality Error in parallel and distributed simulation. One approach is based on the conservative time synchronization and the other is the optimistic time synchronization. In this paper an efficient null message reduction method for the conservative time synchronization approach is suggested with the experimental results, which could improve performance of simulation and avoid deadlock situations.

• Journal of the Earthquake Engineering Society of Korea
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• v.10 no.3 s.49
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• pp.35-45
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• 2006

The simulation of tsunami using detailed bathymetry and topography is required to establish the countermeasure of disaster mitigation and the tsunami hazard map. In this study, a simulation of the 1993 tsunami event in the East Sea using parallel finite element model, which is possible to simulate with suitable accuracy by the Beowulf parallel computation method, is performed to produce detailed features of coastal inundation. Results of simulation are compared with measured data. The evolution of statistic distribution of tsunami heights is studied numerically and the distribution functions of tsunami heights show a tendency to the log-normal curve along coastal area.

• Journal of Power System Engineering
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• v.10 no.2
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• pp.29-35
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• 2006

Two-dimensional numerical simulation has been performed to investigate mixed convection heat transfer between inclined parallel plates with bottom-heated and top-cooled uniformly. The ratio of parallel plate length to height is 9.33, Prandtl number is 909(that of silicone oil at 298K) and Rayleigh number is 8600. In the ranges of the Reynolds number Re from 0 to 1.8 and the angle of inclination ${\theta}$ from 0 to 90 degree. The governing equations are discretized using the finite volume method. In this study, the effects of the Reynolds number, the angle of inclination, and the local and mean Nusselt numbers are presented and discussed. It is found that the periodic flow of mixed convection between inclined parallel plates is shown at $0^{\circ}{\leq}\;{\theta}<30^{\circ},\;Re<0.063$, and the flow pattern can be classified into three patterns which depend on Reynolds number and the angle of inclination. The minimum average Nusselt numbers occur at Re=0.05 regardless of the angle of inclination.

• Smart Structures and Systems
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• v.13 no.4
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• pp.711-730
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• 2014

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

• Transactions of the Korean hydrogen and new energy society
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• v.22 no.6
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• pp.868-877
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• 2011

This paper presents a parallel computing methodology for polymer electrolyte fuel cells (PEFCs) and detailed simulation contours of a real-scale fuel cell. In this work, a three-dimensional two-phase PEFC model is applied to a large-scale 200 $cm^2$ fuel cell geometry that requires roughly 13.5 million grid points based on grid-independence study. For parallel computing, the large-scale computational domain is decomposed into 12 sub-domains and parallel simulations are carried out using 12 processors of 2.53 GHz Intel core i7 and 48GB RECC DDR3-1333. The work represents the first attempt to parallelize a two-phase PEFC code and illustrate two-phase contours in a representative industrial cell.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.543-547
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• 2009

This paper describes the design, simulation, development, and experiment of a six degree-of-freedom micropositioning parallel manipulator. A movable stage was supported with six links, each of which extends with a dc-servo micropositioning actuator. In case of parallel manipulator, while the solution of the inverse kinematics is easily found by the vectors of the links which are composed of the joint coordinates in base and platform, but forward kinematic is not easily solved because of the nonlinearity and complexity of the parallel manipulator's kinematic output equation with the multi-solutions. The movable range of the prototype was ${\pm}25mm$ in the x- and y-directions and ${\pm}12.5mm$ in the z-direction. The minimum incremental motion of the prototype was $1{\mu}m$ in the x- and y-directions and $0.5{\mu}m$ in the z-direction. The repeatability of the prototype was ${\pm}2{\mu}m$ in the x- and y-directions and ${\pm}1{\mu}m$ in the z-direction. The motion performance was also evaluated by not only the computer simulation of CAD model but also the experiment using a capacitive sensor system.

• IE interfaces
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• v.9 no.2
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• pp.75-82
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• 1996

A scheduling system is developed for a parallel machine flow shop which reflects the situations of the manufacturing processes in the tire industry. The schedule is generated via simulation using heuristic rules to get satisfaction on such constraints as due dates, demands, work-in-process, process capacity, set-up times and scheduling speed. This system, constructed with relational DB, SQL and C language, consumes less than 10 minutes of PC simulation to handle real size problems.

• Journal of the Korea Society for Simulation
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• v.14 no.4
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• pp.87-93
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• 2005

In this paper we propose a new iterative decoding method of turbo code which computes the log-likelihood ratios at each MAP (maximum a posteriori) decoder in parallel in each iteration step and combines them with proper weights to produce better decisions. Our results indicate that the proposed decoding method is particularly useful for systems with limited number of iterations and low code rates.