• Journal of Power Electronics
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• 제11권2호
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• pp.202-210
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• 2011

Polymer electrolyte membrane (PEM) fuel cell is one of the popular renewable energy sources and widely used in commercial medium power areas from portable electronic devices to electric vehicles. In addition, the increased integration of the PEM fuel cell with power electronics, dynamic loads, and control systems requires accurate electrical models and simulation methods to emulate their electrical behaviors. Advancement in parallel computation techniques, various real-time simulation tools, and smart power hardware have allowed the prototyping of novel apparatus to be investigated in a virtual system under a wide range of realistic conditions repeatedly, safely, and economically. This paper builds up advancements of optimized model constructions for a fuel cell stack system on a real-time simulator in the view points of improving dynamic model accuracy and boosting computation speed. In addition, several considerations for a power hardware-in-the-loop (PHIL) simulation are provided to electrically emulate the PEM fuel cell stack system with power facilities. The effectiveness of the proposed PHIL simulation method developed on Opal RT's RT-Lab Matlab/Simulink based real-time engineering simulator and a programmable power supply is verified using experimental results of the proposed PHIL simulation system with a Ballard Nexa fuel cell stack.

• International Journal of Contents
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• 제4권2호
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• pp.7-12
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• 2008

In this paper, we present a real-time physical simulation model of water surfaces with a novel method to represent the water mass flow in full three dimensions. In a physical simulation model, the state of the water surfaces is represented by a set of physical values, including height, velocity, and the gradient. The evolution of the velocity field in previous works is handled by a velocity solver based on the Navier-Stokes equations, which occurs as a result of the unevenness of the velocity propagation. In this paper, we integrate the principle of the mass conservation in a fluid of equilateral density to upgrade the height field from the unevenness, which in mathematical terms can be represented by the divergence operator. Thus the model generates waves induced by horizontal velocity, offering a simulation that puts forces added in all direction into account when calculating the values for height and velocity for the next frame. Other effects such as reflection off the boundaries, and interactions with floating objects are involved in our method. The implementation of our method demonstrates to run with fast speed scalable to real-time rates even for large simulation domains. Therefore, our model is appropriate for a real-time and large scale water surface simulation into which the animator wishes to visualize the global fluid flow as a main emphasis.

• Structural Engineering and Mechanics
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• 제62권5호
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• pp.631-642
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• 2017

Accurate actuator tracking plays an important role in real-time hybrid simulation (RTHS) to ensure accurate and reliable experimental results. Frequency-domain evaluation index (FEI) interprets actuator tracking into amplitude and phase errors thus providing a promising tool for quantitative assessment of real-time hybrid simulation results. Previous applications of FEI successfully evaluated actuator tracking over the entire duration of the tests. In this study, FEI with moving window technique is explored to provide post-experiment localized actuator tracking assessment. Both moving window with and without overlap are investigated through computational simulations. The challenge is discussed for Fourier Transform to satisfy both time domain and frequency resolution for selected length of moving window. The required data window length for accuracy is shown to depend on the natural frequency and structural nonlinearity as well as the ground motion input for both moving windows with and without overlap. Moving window without overlap shows better computational efficiency and has potential for future online evaluation. Moving window with overlap however requires much more computational efforts and is more suitable for post-experiment evaluation. Existing RTHS data from Network Earthquake Engineering Simulation (NEES) is utilized to further demonstrate the effectiveness of the proposed approaches. It is demonstrated that with proper window size, FEI with moving window techniques enable accurate localized evaluation of actuator tracking for real-time hybrid simulation.

• 한국정보통신학회논문지
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• 제11권5호
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• pp.897-905
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• 2007

본 논문에서는 TMO 실시간 객체 모델을 이용하여 실시간 통신 메시지 서비스를 효과적으로 지원하기 위해 새로운 프레임워크 및 동기화 메카니즘을 나타내었다. 또한 분산된 네트워크 시스템에서 TMO 구조를 이용하여 DHS(Distributed High-Precision Simulation) 응용 환경 에 적용함으로서 실시간 메시지 서 비스를 보장하였다. 분산된 다중 노드 시스템에서 TMO의 시간 구동 및 메시지 구동 구조는 실시간 통신 서비스 능력을 적시에 보장하기 위한 설계자의 노력을 충분히 줄일 수 있었으며, 제안된 프레임워크는 분산된 객체 구성요소들 사이의 데드라인 시간을 보다 쉽게 보장하기 위해 일관된 구조 및 구성을 제공하였다. 프로그래머의 데드라인 설계 시간을 처음 객체부터 적용하여 보장함으로서 형성될 수 있다. TMO 객체 모델을 기반으로 한 실시간 시뮬레이션에서 몇 가지의 TMO 구조의 장점을 가지고 있으며, TMO 객체 모델은 요구 명세서와 설계 사이의 강력한 연관성을 가지고 있다.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1048-1051
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• 1996

In this paper, we present real-time S/W architecture and techniques such as real-time scheduling, synchronization, and etc. for implementation of a real-time control system for driving multi-motors. Simulation shows feasibility of real-time S/W techniques presented here.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.1843-1846
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• 2002

The object-oriented(OO) distributed real- time(RT) programming movement started in 1990’s and is growing rapidly at this turn of the century Distributed real-time simulation is a field in its infancy but it is bounded to receive steadily growing recognition for its importance and wide applicability. The scheme is called the distributed time-triggered simulation scheme which is conceptually simple and easy to use but widely applicable. A new generation object oriented(00) RT programming scheme is called the time-triggered message triggered object(TMO) programming scheme and it is used to make specific illustrations of the issues. The TMO structuring scheme is a general-style components structuring scheme and supports design of all types of component including hard real time 1 objects and non real time objects within one general structure.

• 한국시뮬레이션학회논문지
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• 제26권3호
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• pp.13-22
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• 2017

본 연구는 시뮬레이션을 진행하면서 그 결과를 실시간으로 시각화하는 경우에 파이프라이닝 병렬처리 기법을 적용하여 성능을 개선할 수 있음을 보인다. 일반적으로 실시간 시각화를 포함한 시뮬레이션에서는 모델을 실행하는 프로세스와, 시뮬레이션 결과를 시각화 도구로 전송하는 프로세스, 결과를 받아서 시각화 하는 3개의 프로세스가 있다. 만약 이 프로세스들을 직렬화해서 실행하면 전체 실행시간이 매우 길어져서 시각화의 성능이 저하될 수밖에 없다. 본 연구에서는 기존의 직렬 방식 대신에 파이프라이닝 병렬처리 기법을 적용하여 성능을 개선하고자 한다. 추가적으로 각 프로세스에 다중 스레드 기능을 더하여 더 큰 성능의 개선이 있음을 보인다. 이를 위해 본 논문은 제안된 기법에 대한 이론적 성능모델을 세우고 최대, 최소 성능 향상 조건을 이론적으로 해석하였으며 모의실험하였다. 이 이론을 바탕으로 실시간으로 시각화하는 실시간 공중전 시뮬레이션에 적용한 결과 기존의 직렬화된 실행 성능보다 제안된 이론을 적용한 후의 실행 성능이 크게 향상되었음을 보였다.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.187-193
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• 2015

When developing a vehicle control system, simulation methods are widely used to validate the whole system in the early development phase. With this regard, the simulator should correctly behave just like the real parts that are not yet implemented while interacting with already implemented parts in real-time. However, most simulators cannot provide functionally and temporally accurate behaviors of the target system. In order to overcome this limitation, this paper proposes a novel real-time simulation technique that can efficiently simulate the temporal behavior as well as the functional behavior of the simulation target system.

• 한국지진공학회논문집
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• 제22권4호
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• pp.253-259
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• 2018

Structure behaviors resulting from an earthquake are experimentally simulated mainly through a shaking table test. As for large-scale structures, however, size effects over a miniature may make it difficult to assess actual behaviors properly. To address this problem, research on the hybrid simulation is being conducted actively. This method is to implement numerical analysis on framework members that affect the general behavior of the structure dominantly through an actual scale experiment and on the rest parts by applying the substructuring technique. However, existing studies on hybrid simulation focus mainly on Slow experimental methods, which are disadvantageous in that it is unable to assess behaviors close to the actual level if material properties change depending on the speed or the influence of inertial force is significant. The present study aims to establish a Real-time hybrid simulation system capable of excitation based on the actual time history and to verify its performance and applicability. The hybrid simulation system built up in this study utilizes the ATS Compensator system, CR integrator, etc. in order to make the target displacement the same with the measured displacement on the basis of MATLAB/Simulink. The target structure was a 2-span bridge and an RC pier to support it was produced as an experimental model in order for the shaking table test and Slow and Real-time hybrid simulations. Behaviors that result from the earthquake of El Centro were examined, and the results were analyzed comparatively. In comparison with the results of the shaking table test, the Real-time hybrid simulation produced more similar maximum displacement and vibration behaviors than the Slow hybrid simulation. Hence, it is thought that the Real-time hybrid simulation proposed in this study can be utilized usefully in seismic capacity assessment of structural systems such as RC pier that are highly non-linear and time-dependent.