• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.6
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• pp.548-555
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• 2007

Typical helicopter simulation programs rely on differential equations of a closed form. However, since these equations are derived using various assumptions, their usefulness is limited to small flight regions and specific model types. This paper presents a component based rotorcraft simulation program. The program adopts methods of multi-body dynamics and is written in an object-oriented programming language. The program was validated using an AH-1G helicopter simulation. The trim results are well matched with flight test data. It is also shown that program is capable of running in real-time on a desktop computer.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2000.04a
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• pp.39-46
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• 2000

The imploded open $\pi$-rays comprise of the space and their diameters are distributed from nearly zero to infinite. The change of the potential energy in the open $\pi$-ray produces an attraction force between them and it is sensible to the geometric shape factor and its frequency. The equivalent principle of general relativity means that in the wave equation its velocity of the force wave is infinite. The change of the state in a open $\pi$-ray(or any force wave) can be transferred to any sensible open $\pi$-ray via space at a finite velocity. Many properties of the light wave can be deduce from the motions of open $\pi$-rays.The nonsteady and steady Schr dinger equations include the dynamics of open $\pi$-rays and closed $\pi$-rays.$\prod$-ray is a tool of entity for constructing physics and metaphysics at the same time.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1012-1016
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• 1991

An effective visual servo control system for robotic manipulators based on neural networks is proposed. For this control system, firstly, one neural network is used to learn the mapping relationship between the robot's joint space and the video image space. However, in the proposed control scheme, this network is not used in itself, but its first and second derivatives are used to generate servo commands for the robot. Secondly, an adaptive Adaline network is used to identify the dynamics of the robot and also to generate the proper torque commands. Computer simulation has been performed indicating its superior performance. As far as the authors know, this is the first time attempt of the use of neural networks for a visual servo control of robots that compensates for their changing dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.4
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• pp.544-550
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• 2003

The contact analyses of arbitrary shaped spatial bodies are important in the study of multi-body dynamics. This paper presents a method fur calculating contact force between bodies in space. At each integration time step, the proposed method finds potential contact points on bodies and then calculates the penetration, the velocity of penetration, and the contact force. A continuous analysis method is adopted to calculate the contact force. To get contact points accurately on their outlines, a new algorithm is developed. The proposed algorithm is tested and compared the results of DADS. As applications, the contact of two steel balls, spatial pendulums, and the problem of a ball and bat are demonstrated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.101-107
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• 2012

In this study, Constraint Force Equation Methodology (CFEM) is used to develop a multi-body dynamic analysis program with constraints. Seven constraint models are implemented to analyze constraint motions of multiple bodies. The augmented equations with the constraints are solved with the 4th order Runge-Kutta method for higher degree of accuracy. The analysis code is verified by comparing the analysis results of the motion of bodies with various constraints to published results.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.129-136
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• 2008

An roll-pitch-yaw integrated autopilot for missiles is designed for compensation of dynamics coupling. The proposed autopilot is based on the classical control technique. The gains of the proposed autopilot are optimized by using co-evolutionary augmented Lagrangian method(CEALM). Several cost functions are compared in order to find feasible control gains. For a case that a bank angle of missiles is unknown, multiple models are used in the autopilot optimization. In nonlinear simulations as well as linear simulations, the proposed autopilot provided good performances.

• 연구논문집
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• s.28
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• pp.39-47
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• 1998

Industrial electrostatic precipitation is a very complex process, which involves multiple-way interaction between the electric field, the fluid flow, and the particulate motion. This paper describes a strongly coupled calculation procedure for the rigorous computation of particle dynamics during electrostatic precipitation. The turbulent gas flow and the particle motion under electrostatic forces are calculated by using the commercial computational fluid dynamics (CFD) package FLUENT linked to a finite-volume solver for the electric field and ion charge. Particle charge is determined from both local electrical conditions and the cell residence time which the particle has experienced through its path. Particle charge density and the particle velocity are averaged in a control volume to use Lagrangian information of the particle motion in calculating the gas and electric fields. The turbulent particulate transport and the effects of particulate space charge on the electrical current flow are investigated. The calculated results for poly-dispersed particles are compared with those for mono-dispersed particles, and significant differences are demonstrated.

• Nuclear Engineering and Technology
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• v.42 no.3
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• pp.259-270
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• 2010

New generation nuclear reactors are designed using advanced safety analysis methods. A thorough understanding of different interacting physical phenomena is necessary to avoid underestimation and overestimation of consequences of off-normal transients in the reactor safety analysis results. This feature requires a multiphysics reactor simulation model. In this context, a coupled dynamics model based on a multiphysics formulation is developed indigenously for the transient analysis of large pressurized VVER reactors. Major simplifications are employed in the model by making several assumptions based on the physics of individual phenomenon. Space and time grids are optimized to minimize the computational bulk. The capability of the model is demonstrated by solving a series of international (AER) benchmark problems for VVER reactors. The developed model was used to analyze a number of reactivity transients that are likely to occur in VVER reactors.

• Journal of information and communication convergence engineering
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• v.11 no.4
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• pp.274-281
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• 2013

In this study, we consider the challenges in motion planning for automated driving systems. Most of the existing online motion-planning algorithms, which take dynamics into account, find it difficult to operate in an environment with narrow passages. Some of the existing algorithms overcome this by offline preprocessing if environment is known. In this work an online algorithm for motion planning with dynamics in an unknown cluttered environment with narrow passages is presented. It utilizes an idea of hybrid planning with sampling- and discretization-based motion planners, which run simultaneously in a full configuration space and a derived reduced space. The proposed algorithm has been implemented and tested with a real autonomous vehicle. It provides significant improvements in computational time performance over basic planning algorithms and allows the generation of smoother paths than those generated by the recently developed hybrid motion planners.