• Journal of Institute of Control, Robotics and Systems
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• v.8 no.12
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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.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.9
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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.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.5
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• pp.443-449
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• 2005

In this paper, parallel operation systems with Z-source Inverters for the fuel cell systems are discussed. The carrier phase shifted SPWM(Sinusoidal Pulse Width Modulation) has an advantage in reducing harmonics of output current. However when this technique applies in parallel operation of Z-source inverters, it additionally produces circulating currents. The circulating current is analyzed and a method to prevent the circulating current is applied to the parallel operation systems of Z-source inverters. To maintain high performance with reduced circulating current in inverter output and low harmonic components in load current, circulating current reactors are used. The proposed approach is verified through simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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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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• v.16 no.4
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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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• v.32 no.4
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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.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.1B
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• pp.27-32
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• 2003

This paper presents the Genetic Algorithm based Task Scheduling (GATS) method for the scheduling of programs with diverse embedded parallelism types in Distributed Parallel Systems, which consist of a set of loosely coupled parallel and vector machines connected via high speed networks The distributed parallel processing tries to solve computationally intensive problems that have several types of parallelism, on a suite of high performance and parallel machines in a manner that best utilizes the capabilities of each machine. When scheduling in distributed parallel systems, the matching of the parallelism characteristics between tasks and parallel machines rather than load balancing should be carefully handled with the minimization of communication cost in order to obtain more speedup. This paper proposes the based initialization methods for an initial population and the knowledge-based mutation methods to accommodate the parallelism type matching in genetic algorithms.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.4
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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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• v.23 no.4
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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.