• Journal of Advanced Marine Engineering and Technology
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• v.20 no.3
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• pp.286-286
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• 1996

A neural predictive tracking system for the control of structure-unknown dynamic system is presented. The control system comprises a neural network modelling mechanism for the the forward and inverse dynamics of a plant to be controlled, a feedforward controller, feedback controller, and an error prediction mechanism. The feedforward controller, a neural network model of the inverse dynamics, generates feedforward control signal to the plant. The feedback control signal is produced by the error prediction mechanism. The error predictor adopts the neural network models of the forward and inverse dynamics. Simulation results are presented to demonstrate the applicability of the proposed scheme to predictive tracking control problems.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.3
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• pp.154-161
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• 1996

A neural predictive tracking system for the control of structure-unknown dynamic system is presented. The control system comprises a neural network modelling mechanism for the the forward and inverse dynamics of a plant to be controlled, a feedforward controller, feedback controller, and an error prediction mechanism. The feedforward controller, a neural network model of the inverse dynamics, generates feedforward control signal to the plant. The feedback control signal is produced by the error prediction mechanism. The error predictor adopts the neural network models of the forward and inverse dynamics. Simulation results are presented to demonstrate the applicability of the proposed scheme to predictive tracking control problems.

• The Journal of the Korea Contents Association
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• v.18 no.7
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• pp.322-329
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• 2018

Teleoperation is defined with a master device that gives control command and a slave robot in a remote site. In this field, it is common that a human operator executes and experiences teleoperation with a virtual slave, and preliminary learns dynamic characteristic and network environment from both agents. Generally, a virtual slave has neglected forward dynamics and its kinematic model has been implemented in computer graphics. This makes a operator to experience actual feelings. This paper proposes a dynamic teleoperation model in which a robotic forward model is applied. Also, a novel compensation method is proposed to reduce the numerical error problems in forward dynamics caused by low control sampling rate. Finally, its results will be compared to the teleoperation in an actual environment.

• Ocean Systems Engineering
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• v.6 no.4
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• pp.305-324
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• 2016

Wave load prediction at zero forward speed using finite depth Green function is a well-established method regularly used in the offshore and marine industry. The forward speed approximation in deep water condition, although with limitations, is also found to be quite useful for engineering applications. However, analysis of vessels with forward speed in finite water depth still requires efficient computing methods. In this paper, a method for analysis of wave induced forces and corresponding motion on freely floating three-dimensional bodies with low to moderate forward speed is presented. A finite depth Green function is developed and incorporated in a 3D frequency domain potential flow based tool to allow consideration of finite (or shallow) water depth conditions. First order forces and moments and mean second order forces and moments in six degree of freedom are obtained. The effect of hull flare angle in predicting added resistance is incorporated. This implementation provides the unique capability of predicting added resistance in finite water depth with flare angle effect using a Green function approach. The results are validated using a half immersed sphere and S-175 ship. Finally, the effect of finite depth on a tanker with forward speed is presented.

• Korean System Dynamics Review
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• v.13 no.2
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• pp.5-23
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• 2012

This paper studies dynamic relationship between cash market, forward market, and options market, from the perspective of systems thinking. It is shown that an exogenous shock to forward market can yield almost the same impact to the cash market, given a practically reasonable condition, but not vice versa. As far as options market is concerned, it matters what kind of options we deal with, who are long the option, and whether the option market maker performs dynamic hedging or not. In some cases, it is possible for the spot price to become unstable and diverge rather violently due to a strong negative feedback between the markets.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1383-1384
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• 2010

• Journal of KSNVE
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• v.6 no.6
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• pp.819-825
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• 1996

Nonlinear dynamic characteristics of rubbing phenomenon in rotor dynamics are investigated experimentally and numerically. Rubbing phenomenon occurs when rotor contacts with stator during whirling and causes the large amplitude of vibration, high whirl frequencies, and possibly catastrophic failure. Rubbing has various types of forward whirl, backward rolling, backward slipping, and partial rub depending on the system parameters of rotating machinery and running speed. Experiments are performed for forward whirl and backward whirl. And numerical analysis are conducted to explain the changes between backward rolling and backward slipping. Experimental and numerical results show that the types of whirling motion depends on the friction coefficient between rotor and stator and the eccentricity of rotor.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.918-927
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• 2020

Flows induced by hybrid CRP pod propulsion systems (CRP-POD) are fundamentally characterized by unsteadiness. This work presents a numerical study on the unsteady flow of a CRP-POD at behind-hull condition based on CFD (Computational Fluid Dynamics). Unsteady RANS method is adopted, coupled with SST k-u turbulence model and sliding mesh method. The propeller thrusts and torques obtained by CFD is validated by model tests and acceptable agreements are obtained. The time histories of shingle-blade loads and pressures near the hull surface are recorded for the analysis of unsteady flow features. The cases of forward propeller alone and aft propeller alone are also computed to distinguish the hull-propeller interaction and propeller-propeller interaction. The results show the blade loads of both forward and aft propellers strongly fluctuate with phase angles. For the forward propeller, the blade load fluctuation is mainly governed by the hull-propeller interaction, while the aft blade load is remarkably affected by the propeller-propeller interaction in terms of the load average and fluctuation pattern. The fields of pressure, vorticity and velocity are also analyzed to reveal the unsteady flow features.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• International Journal of Fluid Machinery and Systems
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• v.4 no.3
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• pp.341-348
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• 2011

The study of bacterial flagellar swimming motion remains an interesting and challenging research subject in the fields of hydrodynamics and bio-locomotion. This swimming motion is characterized by very low Reynolds numbers, which is unique and time reversible. In particular, the effect of rotation of helical flagella of bacterium on swimming motion requires detailed multi-disciplinary analysis. Clear understanding of such swimming motion will not only be beneficial for biologists but also to engineers interested in developing nanorobots mimicking bacterial swimming. In this paper, computational fluid dynamics (CFD) simulation of a three dimensional single flagellated bacteria has been developed and the fluid flow around the flagellum is investigated. CFD-based modeling studies were conducted to find the variables that affect the forward thrust experienced by the swimming bacterium. It is found that the propulsive force increases with increase in rotational velocity of flagellum and viscosity of surrounding fluid. It is also deduced from the study that the forward force depends on the geometry of helical flagella (directly proportional to square of the helical radius and inversely proportional to pitch).