• 한국컴퓨터정보학회:학술대회논문집
• /
• 한국컴퓨터정보학회 2022년도 제65차 동계학술대회논문집 30권1호
• /
• pp.341-344
• /
• 2022

본 논문에서는 삼각형 메쉬 기반에서 변형률 기반 동역학(Strain-based dynamics, SBD)을 안정적으로 표현할 수 있는 굽힘 스프링 구조와 감쇠 기법에 대해 설명한다. SBD는 삼각형 메쉬의 에지 길이(Edge length) 기반의 에너지 대신 변형률(Strain)을 활용하여 에너지를 모델링한다. 하지만, 비정상적인 삼각형(Degenerate triangle)인 경우 변형률이 불안정하게 계산되어 잘못된 방향으로 늘어나는 문제가 발생한다. 본 논문에서는 이러한 문제를 효율적으로 처리할 수 있는 굽힘 스프링(Bending spring) 구조에 대해 소개한다. 결과적으로 본 논문에서 제안하는 기법은 안정적으로 SBD를 처리할 수 있기 때문에 다양한 재질의 옷감 시뮬레이션을 안정적으로 표현할 수 있도록 한다.

• 한국공작기계학회논문집
• /
• 제14권4호
• /
• pp.81-88
• /
• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• ETRI Journal
• /
• 제31권5호
• /
• pp.565-575
• /
• 2009

This paper concerns the use of support vector regression (SVR), which is based on the kernel method for learning from examples, in identification of walking robots. To handle complex dynamics in humanoid robot and realize stable walking, this paper develops and implements two types of reference natural motions for a humanoid, namely, walking trajectories on a flat floor and on an ascending slope. Next, SVR is applied to model stable walking motions by considering these actual motions. Three kinds of kernels, namely, linear, polynomial, and radial basis function (RBF), are considered, and the results from these kernels are compared and evaluated. The results show that the SVR approach works well, and SVR with the RBF kernel function provides the best performance. Plus, it can be effectively applied to model and control a practical biped walking robot.

• Journal of applied mathematics & informatics
• /
• 제29권5_6호
• /
• pp.1117-1127
• /
• 2011

In this paper, a class of more general delayed viral infection model with lytic immune response is proposed by Song et al.[1] ([Journal of Mathematical Analysis Application 373 (2011), 345-355). We derive the basic reproduction numbers $R_0$ and $R_0^*$ 0 for the viral infection, and establish that the global dynamics are completely determined by the values of $R_0$ and $R_0^*$. If $R_0{\leq}1$, the viral-free equilibrium $E_0$ is globally asymptotically stable; if $R_0^*{\leq}1$ < $R_0$, the immune-free equilibrium $E_1$ is globally asymptotically stable; if $R_0^*$ > 1, the chronic-infection equilibrium $E_2$ is globally asymptotically stable by using the method of Lyapunov function.

• Journal of Advanced Marine Engineering and Technology
• /
• 제30권3호
• /
• pp.428-437
• /
• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국안전학회지
• /
• 제8권4호
• /
• pp.133-138
• /
• 1993

The stable and safe operation of a boiler system is essential for ensuring stability of the chemical processes. A dynamic simulation of a boiler drum was performed to identify the dynamics of the boiler drum. The obtained results represented that the variation of process variables disturb boiler system. So, disturbance rejection with tracking and constraints handing was necessary for stable operation of boiler drum. Among many controller, GPC has been known to show good performance in set point tracking than disturbance. In order to improve disturbance rejection performance measurable disturbance term was Introduced in basic GPC model. The controller which had tracking and disturbance rejection was designed for Improving the stable operation of a boiler system.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.151.5-151
• /
• 2001

Sliding mode control is investigated for a discrete-time system with uncertainties. The narrowest neighborhood of the sliding surface is shown in which the state can remain. The range is determined by the upper bound of the absolute value of the uncertainty and the equation of the sliding surface. A sliding mode control algorithm is proposed to keep the state there without requiring an enormous input. Under the presence of the system parameter variations, the origin is not always stable although the sliding surface represents the stable dynamics and the state is kept in this neighborhood. The condition for the origin to be stable is investigated. Furthermore, the problems occurring when a continuous-time sliding mode control being ...

• Korean Chemical Engineering Research
• /
• 제50권5호
• /
• pp.830-836
• /
• 2012

Dead time은 공정의 동특성을 기술할 때 매우 자주 나타나는 것으로 공정의 동특성 모사 혹은 제어 시스템 분석에 많은 어려움을 준다. 이 어려움을 줄이기 위해 무한 차원의 dead time을 유한 차원의 전달함수로의 근사가 필요한데, 여기에는 Pade 근사가 자주 사용된다. Dead time의 정밀한 근사를 위해서는 고차의 Pade 근사가 필요한데, 고차의 Pade 근사식은 외우기 쉽지 않고 수치적으로 안정적이지 못하다. 이 Pade 근사와 같은 전달함수를 주지만 수치적으로 우수한 continued fraction 전개를 이용하는 방법을 제안하고자 한다. 제안하는 방법은 수치적으로 우수할 뿐만 아니라 매우 체계적이어서 쉽게 기억할 수 있어 공정제어 강의와 계산에 편리하게 이용할 수 있을 것이다.

• Industrial Engineering and Management Systems
• /
• 제14권1호
• /
• pp.44-57
• /
• 2015

In recent years, for the purpose of solving the problem regarding environment protection and resource saving, certain measures and policies have been promoted to establish a reverse supply chains (RSCs) with material flows from collection of used products to reuse the recycled parts in production of products. It is necessary to analyze behaviors of RSC members to determine the optimal operation. This paper discusses a RSC with a retailer and a manufacturer and verifies the behavior strategies of RSC members which may change over time in response to changes parameters related to the recycling promotion activity in RSC. A retailer takes two behaviors: cooperation/non-cooperation in recycling promotion activity. A manufacturer takes two behaviors: monitoring/non-monitoring of behaviors of the retailer. Evolutionary game theory combining the evolutionary theory of Darwin with game theory is adopted to clarify analytically evolutionary outcomes driven by a change in each behavior of RSC members over time. The evolutionary stable strategies (ESSs) for RSC members' behaviors are derived by using the replicator dynamics. The analysis numerically demonstrates how parameters of the recycling promotion activity: (i) sale promotion cost, (ii) monitoring cost, (iii) compensation and (iv) penalty cost affect the judgment of ESSs of behaviors of RSC members.

• 한국세라믹학회지
• /
• 제48권6호
• /
• pp.493-498
• /
• 2011

Optimal atomic configurations in a nanoparticle were predicted by genetic algorithm. A truncated octahedron with a fixed composition of 1 : 1 was investigated as a model system. A Python code for genetic algorithm linked with a molecular dynamics method was developed. Various operators were implemented to accelerate the optimization of atomic configuration for a given composition and a given morphology of a nanoparticle. The combination of random mix as a crossover operator and total_inversion as a mutation operator showed the most stable structure within the shortest calculation time. Pt-Ag core-shell structure was predicted as the most stable structure for a nanoparticle of approximately 4 nm in diameter. The calculation results in this study led to successful prediction of the atomic configuration of nanoparticle, the size of which is comparable to that of practical nanoparticls for the application to the nanocatalyst.