• Journal of Power System Engineering
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• v.16 no.4
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• pp.12-16
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• 2012

In this paper, the equations of motions for planar multibody dynamics are established for considering the parallel programming based on GPU. Cartesian coordinates are used to formulate the equations of motion and implicit integration method called HHT-alpha is employed. Open chain multibody system is considered for computer simulation. CUDA toolkit is employed for establishing the GPU parallel programming. The exactness of the analysis is verified from the comparison with ADAMS. The results from parallel computing based on GPU are compared with the results from the sequential programming based on CPU in terms of calculation time. The multiple pendulum with bodies and joints is employed for the computer simulation. In the pendulum system that has 290 bodies, the parallel program indicates an improved efficiency of about 25.5 second(15.5% improvement). It is noted that the larger the size of system is, the time efficiency is better.

• Korean System Dynamics Review
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• v.14 no.2
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• pp.31-53
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• 2013

This article deals with a Causal-Loop analysis of the characteristics of Ouroboros effects. The meaning of the effects is that solutions to problems are usually intended as final fixes, but more often than not, while solving one problem, they generate more problems. It means 'to worsen through attempts to make better.' The Ouroboros effects are very dangerous because they are regarded as a kind of self-destructive mechanisms. While existing researchers recognize the risks of the effects, they are not able to solve the systematic problem but only to describe the symptom. Such a way to deal with the effects results in difficulty to clarify the cause-and-effect relationship within the system. Thus the authors are focusing on explaining the effects by SD (System Dynamics), which are considered as the sole methodology to do effectively so far since SD is a great tool to discover structural causes. To solve the self-destructive problem of the effects, the authors analyze the characteristics of several cases of the effects in elaborating the CLD (Causal Loop Diagram) for each case. The analysis reveals the structural characteristics of the effects and how to correct them towards maintaining the sustainability of systems.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.5
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• pp.502-515
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• 2020

To identify the dynamic characteristics of the Auto-leveling system applied to the Tractor-Trailer type Transporter for mounting a large scale precision equipment, Dynamics Modeling & Simulation were performed using general Dynamics Analysis Program - RecurDyn(V9R2). The axial load data, transverse load data and pad trace data of leveling actuators were obtained from M&S. And they were analyzed and compared with each other by parameters, i.e. friction coefficients on the ground, landing ram speed of actuators, and direction & quantity of ground slope. It was observed that ground contact friction coefficients affected to transverse load and pad trace; the landing ram speed of actuators to both amplitude of axial & transverse load, and this phenomena was able to explain from the frequency analysis of the axial load data; the direction of ground slope to driving sequence of landing ram of actuators. But the dynamic behaviors on the two-directional slope were very different from them on the one-directional slope and more complex.

• The Journal of the Korea Contents Association
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• v.6 no.12
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• pp.121-127
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• 2006

As information technologies are improving, geographical information system (GIS) technologies are also developing rapidly and demands for spatial analysis with GIS are increasing. Particularly, the spatial analyses with GIS researches have been noted rather than general GIS researches. However, most GIS researches focus on space dimension: a density-based clustering method (DBSCAN) or a DBSCAN algorithm using region expressed as Weight (DBSCAN-W) but the importance of rational decision making based on time dimension has been neglected. This study adopts system dynamics in order to put time dimension in GIS-based optimum allocation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.564-568
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• 2005

As functional requirements of automatic office machines like printers, ATMs, copying machines are on a trend for the higher speed and precision, extensive technical advances are being developed and implemented in the industry. Media transport system is a device to convey a sheet of paper in ATMs and printers. The stability of media transport system is a matter of concern as their operating throughput rapidly increases. And defects of belts or rollers in a transport system directly affect the level of stability of the system. Therefore an automatic diagnostic system for predicting various defects is necessary for the stable operation of the media transport system. A simulation based on multi-body dynamics has been done for a feasibility study of a system design for the defect anticipation.

• Proceedings of the Korean Geotechical Society Conference
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• 2003.03a
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• pp.3-25
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• 2003

In this presentation, soil dynamics for vibrating machine foundation is briefly stated, and the result of a model pile test is presented. Analystical methods used in solving for the stiffness and damping factor for pile-soil system are also treated and the results of the test and the calculated values are compared.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.350-350
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• 2000

Since the heat exchange system, such as the boiler of power plant, gas turbine, and radiator require a high rate heat efficiency and the efficiency of these systems is depended on the control methods. However, it is important f3r operator to understand control system of these systems. In order to properly apply control equipment to these process control systems, such as boiler, any other heat process, or process control system it is necessary to understand the basic aspects and operation principle of the process that relate control, interrelationships of the process characteristics, and the dynamics that are involved. Generally, PID controllers are used in these systems but it is difficult for engineer to understand the complex dynamics and the tuning method because of the coupling action and disturbance in the system loop. In this paper, we design an effective experimental system fur automatic control education and analyze its characteristics through experimental system and industrial plant control software to study how they can team automatic control system by experiments.

• Smart Structures and Systems
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• v.15 no.3
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• pp.863-879
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• 2015

This paper experimentally investigates the effectiveness and applicability of the time delay control (TDC) algorithm, which is simple and robust to unknown system dynamics and disturbance, for an active mass damper (AMD) system to mitigate the excessive vibration of a building structure. To this end, the theoretical background including the mathematical formulation of the control system is first described; and then, a thorough experimental study using a shaking table system with a small-scale three-story building structural model is conducted. In the experimental tests, the performance of the proposed control system is examined by comparing its structural responses with those of the uncontrolled system in the free vibration and forced vibration cases. It is clearly verified from the test results that the TDC algorithm embedded AMD system can effectively reduce the structural response of the building structure.

• Tribology and Lubricants
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• v.33 no.4
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• pp.134-140
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• 2017

With the increase in adoption of tilting pad journal bearings (TPJBs), various failure mechanisms related to TPJBs have been reported, of which pad wear is a frequently reported one. Pad wear causes change in geometry of the bearing, which can sometimes result in the failure of the entire system. The objective of this research is to investigate the influence of pad wear on the pad temperature, which is one of the widely used condition monitoring methods for TPJBs. For the theoretical investigation, thermohydrodynamic (THD) analysis was conducted by solving the generalized Reynolds equation and the 3D energy equation. The results of the analysis show that the temperature of the loaded pad increases while that of the unloaded pad decreases, when there is wear on the loaded pads. In addition, the minimum film thickness decreases with an increase in the wear depth. A validation test was conducted with a test rig, which mimics the axial turbine when a test rotor is supported by two TPJBs. The test bearing consists of five pads with a diameter of 60 mm, and a resistance temperature detector (RTD) is installed in the pad for temperature monitoring. The test was performed by replacing the two loaded pads with the worn pad. The test result for the TPJB with wear depth of $30{\mu}m$ show that the temperatures of the loaded pads are $8^{\circ}C$ higher and that of the unloaded pad is $2.5^{\circ}C$ lower than that of the normal TPJB. In addition, the predicted pad temperature shows good agreement with the measured pad temperatures.