• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Proceedings of the KIEE Conference
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• 2006.07a
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• pp.212-213
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• 2006

Load models are important for improving the accuracy of stability analysis and power flow studies. Load characteristics change for different voltages and frequencies. In this research, ANN is used to construct the load model. Characteristics of some residential loads are tested under various voltage and frequency conditions. Acquired data are used to construct load models by ANN. Experiments and modeling results are presented in conclusions.

• Journal of Korean Society of Transportation
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• v.1 no.1
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• pp.28-42
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• 1983

In recent years, significant advances have been made enabling travel demand analysis and network design methods to be used as increasingly realistic evaluation tools. What has been lacking is the integration of travel demand analysis with network design models. This paper reviews some of advanced (integrated) modeling approaches and presents future research directions of integrated modeling system. To design urban transportation networks, it is argued that the travelers' free choice of mode, destination and route should be introduced into transportation network design procedure instead of assuming that trips from a zone to a workplace are fixed or deriving them in a normative procedure to achieve hypothetical system optima.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.730-733
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.371-374
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant joints, obtained by putting additional active joints to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel manipulator with redundant joints. The redundancy in serial chain, due to the increased number of joints per limb, is considered in the modeling. Based oh the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant joints. The effect of the redundant joints on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.535-538
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1018-1021
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• 1988

This study is concerned with modeling an elastomer constitutive relation by utilizing the truncated Volterra series. Actual experimental data from the Instron Tester are obtained for combined input, i.e. constant strain rate followed by a constant strain input. These data are then estimated for step inputs and utilized for the truncated Volterra series models. One second order and one third order truncated Volterra series models have been employed to estimated the force-displacement relation which is one of the prominent properities to characterize the viscoelastic material. The third order Volterra series model has better results, compared with those of the second order Volterra series model.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.12
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• pp.2001-2009
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• 1989

This study suggests the use of fuzzy model in the semiconductor devices modeling as a black box approach. When membership functions of fuzzy sets used in a fuzzy model are simple piecewise-linear functions, the fuzzy model can be reresented in a simple equation. To show that the fuzzy model can be very realistic and simple when used in semiconductor devices modeling, we construct fuzzy models for bipolar transistor, MOSFET and GaAs FET, and compare those with canonical piecewise-linear models.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.11B no.2
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• pp.40-50
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• 2001

This paper deals with the development of the simulation models Cheju - Haenam HVDC system and its dynamic performance study and verify the control characteristics of the HVDC system. It discusses the model development requirement and criteria. It provides guedelines for developing large-scale simulation models for detailed electromagnetic studies and presents the results of the modeling project.

• East Asian mathematical journal
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• v.40 no.3
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• pp.341-353
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• 2024

This paper aims to provide a general review of Opinion Dynamics (OD) and its related models, along with application examples for special agents. We will discuss special classes of social actors, such as informed actors, opponents, and extremists, in the context of opinion dynamics. Our main objective is to determine the extent to which opinion dynamics, as a mathematical sociology, relates to social reality. To achieve this, we present key elements of mathematical sociology in Opinion Dynamics, which we then apply to real socioeconomic phenomena using modeling assumptions and mathematical formulations.