• 대한기계학회논문집A
• /
• 제24권6호
• /
• pp.1470-1478
• /
• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• 한국안전학회지
• /
• 제21권4호
• /
• pp.95-101
• /
• 2006

It is well known that the thermal load in PSC(prestressed concrete) box-girder bridge is the principal cause of detrimental crack. The longitudinal stress caused by the lateral stress from the temperature gradient in slab of PSC box-girder bridge has a considerable influence on the durability and economy of bridge structures. As the basic study for the rational consideration of thermal load and the derivation of design guide, the inverse thermal analysis program for PSC box-girder bridges using field measurement data is developed. In this paper, thermal analyses are performed using field monitoring data for the sample PSC box-girder bridge. It is proposed that the link between monitoring program and the inverse analysis program is available.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2048-2053
• /
• 2005

The aim of this paper is to compensate hysteresis phenomena in Shape Memory Alloy (SMA) actuators by using numerical inverse Preisach model. This is used to design a controller that correct hysteresis effects and improve accuracy for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is formulated and incorporated in open-loop control system in order to obtain desired input-output relationship with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this paper.

• 한국공간구조학회:학술대회논문집
• /
• 한국공간구조학회 2008년도 춘계 학술발표회 논문집
• /
• pp.89-94
• /
• 2008

This paper deals with the method of self-equilibrium stress mode analysis of cable dome structures. From the point of view of analysis, cable dome structure is a kind of unstable truss structure which is stabilized by means of introduction of prestressing. The prestress must be introduced according to a specific proportion among different structural member and it is determined by an analysis called self-equilibrium stress mode analysis. The mathematical equation involved in the self-equilibrium stress mode analysis is a system of linear equations which can be solved numerically by adopting the concept of Moore-Penrose generalized inverse. The calculation of the generalized inverse is carried out by rank factorization method. This method involves a parameter called epsilon which plays a critical role in self-equilibrium stress mode analysis. It is thus of interest to investigate the range of epsilon which produces consistent solution during the analysis of self-equilibrium stress mode.

• 대한기계학회논문집A
• /
• 제30권6호
• /
• pp.643-652
• /
• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• 한국전자파학회:학술대회논문집
• /
• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
• /
• pp.54-58
• /
• 2003

In this study, the solution of Gel'fand-Levitan-Marchenko integral equation in the inverse scattering problem is efficiently solved for arbitrarily specified spectra pattern which are reflected from the restricted potential. The procedure is based on the successive approach without iterations. This method lessens the truncation errors which plague conventional design schemes using specific windows for reflection coefficients. It is shown that the method is adequate for the synthesis of the continuously varying one-dimensional potential of the nonuniformly distributed dielectric constants.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1500-1505
• /
• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2002년도 하계학술대회 논문집 C
• /
• pp.1766-1768
• /
• 2002

The current density in the IPS(Inverse Pinch Switch) is 1/62 times less than that in the spark gap. It was shown that in comparison with the spark gap, the switch inductance of the IPS is largely reduced and the useful lifetime is significantly increased. In the paper, the design technology of a closing switch, especially IPS triggered by electrical signal for pulsed power system with a very high voltage and current is presented.

• 대한기계학회논문집B
• /
• 제37권6호
• /
• pp.539-544
• /
• 2013

본 연구는 공개 해석프로그램과 상용 최적화 프로그램을 연계하여 역열전도 문제를 해결하는 방법론을 제시하고 구현하였다. 이 해석 방법은 구동이 간단하며, 내부 코딩 없이도 구동이 가능하기 때문에 다른 연구자들도 쉽게 역열전도 문제를 재현할 수 있다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1997년도 하계학술대회 논문집 B
• /
• pp.575-577
• /
• 1997

This paper presents a approach to the adaptive control of nonminimum-phase continuous-time systems. It is shown that pole-zero cancellations can be avoided by using approximate inverse systems. The computer simulation results are presented to illustrate the effectiveness of the proposed method.