• 제어로봇시스템학회논문지
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• 제8권12호
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• pp.1041-1047
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• 2002

It is known that parallel-type mechanisms have many singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance when the haptic system displays the reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point because they are operated by user's random motion command. Although many singularity-free algorithms for serial mechanisms have been proposed and studied. singularity-free algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free algorithms, which are appropriate to parallel haptic system, will be discussedand evaluated.

• 전기학회논문지
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• 제58권9호
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• pp.1706-1713
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• 2009

In this paper, a parallel operation algorithm for high power PEMFC generation systems is proposed. According to increasing the capacity of fuel cell systems with several fuel cell stacks, the different dynamic characteristics of each fuel cell stack effect on imbalance of load sharing and current distribution, so that a robust parallel operation algorithm is desired. Therefore, a power-sharing technique is developed and explained in order to design an optimal distributed PEMFC generation system. In addition, an optimal controller design procedure for the proposed parallel operation algorithm is introduced, along with informative simulations and experimental results.

• 전력전자학회논문지
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• 제10권5호
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• pp.443-449
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• 2005

본 논문에서는 연료 전지 시스템을 위한 Z-소스 인버터로 구성된 병렬 운전 시스템을 제시 하였다. PWM 방식으로는 Carrier phase shifted SPWM을 적용하였으며 이 방식은 출력 전류의 고조파 성분을 줄일 수 있는 장점을 갖는다. 그러나 이 기법을 Z-소스 인버터로 구성된 병렬 운전 시스템에 적용하는 경우 추가적으로 순환 전류를 발생한다. Z-소스 인버터로 구성된 병렬 운전 시스템이 동작 시 발생하는 순환 전류를 분석하고 순환 전류를 감소시키며, 부하전류에 낮은 고조파 성분을 가질 수 있도록 순환 전류 리액터를 사용하였다. 이에 대한 적합성을 시뮬레이션과 실험을 통해 입증하였다.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• Journal of Communications and Networks
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• 제16권4호
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• pp.436-446
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• 2014

The high intensity of research and modeling in fields of mathematics, physics, biology and chemistry requires new computing resources. For the big computational complexity of such tasks computing time is large and costly. The most efficient way to increase efficiency is to adopt parallel principles. Purpose of this paper is to present the issue of parallel computing with emphasis on the analysis of parallel systems, the impact of communication delays on their efficiency and on overall execution time. Paper focuses is on finite algorithms for solving systems of linear equations, namely the matrix manipulation (Gauss elimination method, GEM). Algorithms are designed for architectures with shared memory (open multiprocessing, openMP), distributed-memory (message passing interface, MPI) and for their combination (MPI + openMP). The properties of the algorithms were analytically determined and they were experimentally verified. The conclusions are drawn for theory and practice.

• ETRI Journal
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• 제32권4호
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• pp.555-565
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• 2010

Parallel simulation is an efficient way to cope with long runtimes and high computational requirements in simulations of modern complex integrated electronic circuits and systems. This paper presents an algorithm for parallel simulation based on parallelization in equation formulation and simultaneous calculation of matrix contributions for nonlinear analog elements. In addition, the paper describes the development of a grid interface for a parallel simulator that enables a designer to perform simulations on distant computer clusters. Performances of the developed parallel simulation algorithm are evaluated by simulation of a microelectromechanical system.

• 한국통신학회논문지
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• 제28권1B호
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• pp.27-32
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• 2003

본 논문에서는 고속 네트웍 기반의 분산 병렬 시스템에서 다양한 내재 병렬 형태를 갖는 프로그램의 효과적인 수행을 위한 유전자 알고리즘 기반의 태스크 스케쥴링 방법(Genetic Algorithm based Task Scheduling GATS)을 제안한다. 분산병렬 시스템은 고속 네트웍을 통해 연결되어진 다수의 범용, 병렬, 벡터 컴퓨터들로 구성되어진다. 분산병렬 처리의 목적은 다양한 내재 병렬 형태를 갖는 연산 집약적인 문제들을 다수의 고성능 및 병렬 컴퓨터들의 각기 다른 능력을 최대한 이용하여 해결함에 있다 분산병렬 시스템에서 스케쥴링을 통하여 더 많은 속도향상을 얻기 위해서는 시스템간의 부하 균형보다는 태스크와 병렬 컴퓨터간의 병렬특성의 일치가 주의 깊게 다루어져야 하며 태스크의 이동으로 인한 통신 오버헤드가 최소화되어야 한다 본 논문에서는 유전자 알고리즘의 동작이 병렬 특성을 감안하여 이루어질 수 있도록 초기화 방법과 지식 기반의 mutation 방법을 제안한다.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권4호
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• pp.451-457
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• 2014

Parallel operation systems have an advantage in that they can be constructed quickly and inexpensively by combining existing electric power converters. However, in this case, there is a peculiar problem in that a cross current flows between the electric power converters. To design a control system more simply and commonalize the core of combination reactors, we reviewed a system construction method for parallel operation systems constructed with three electric power converters.

• Structural Engineering and Mechanics
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• 제23권4호
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• pp.325-337
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• 2006

A hybrid structural design and optimization methodology that combines the strengths of genetic algorithms, local search techniques, and parallel computing is developed to evolve optimal truss systems in this research effort. The primary objective that is met in evolving near-optimal or optimal structural systems using this approach is the capability of satisfying user-defined design criteria while minimizing the computational time required. The application of genetic algorithms to the design and optimization of truss systems supports conceptual design by facilitating the exploration of new design alternatives. In addition, final shape optimization of the evolved designs is supported through the refinement of member sizes using local search techniques for further improvement. The use of the hybrid approach, therefore, enhances the overall process of structural design. Parallel computing is implemented to reduce the total computation time required to obtain near-optimal designs. The support of human-computer interaction during layout optimization and local optimization is also discussed since it assists in evolving optimal truss systems that better satisfy a user's design requirements and design preferences.