• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.663-671
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• 2008

This paper presents a real-time haptic rendering method for multi-contact interaction with virtual environments. Haptic systems often employ physics-based deformation models such as finite-element models and mass-spring models which demand heavy computational overhead. The haptic system can be designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. A multi-rate output-estimation with an exponential forgetting factor is proposed to implement real-time haptic rendering for the haptic systems with two sampling rates. The computational burden of the output-estimation increases rapidly as the number of contact points increases. To reduce the computation of the estimation, the multi-rate output-estimation with reduced parameters is developed in this paper. Performance of the new output-estimation with reduced parameters is compared with the original output-estimation with full parameters and an exponential forgetting factor. Estimated outputs are computed from the estimated input-output model at a high rate, and trace the analytical outputs computed from the deformation model. The performance is demonstrated by simulation with a linear tensor-mass model.

• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2008.11a
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• pp.119-124
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• 2008

In Korea, most of the historic city became a deteriorated area with low-rise settlement. It is revaluated as a s great potential in spite of slum clearance and redevelopment for a long while after 1970s. A great achievement for low rise multi family housing, in spite of these social change, is not easy to find the cases and social commonness. In the view points, this article deals a ideal model in historic areas, and the model should be get the understanding from the people, because acceptance from people is the beginning for making historic housing areas. The facade model for evaluation prepared as three types, and responses for the models processed by AHP(Analysis Hierarchy Process).

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.6
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• pp.160-170
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• 2006

If hydraulic pump controlled by mechanical type regulator has more than one control function, the construction of regulator will be very complicated and control performance falls drastically. It is difficult to have more than one control function for hydraulic pump controlled by electronic type hydraulic valve due to the inconsistency of controllers. This paper proposes a multi-function control technique which controls continuously flow, pressure and power by using EPPR(Electronic Proportional Pressure Reducing) valve in swash plate type axial piston pump. Nonlinear mathematical model is developed from the continuity equation for the pressurized control volume and the torque balance for the swash plate motion. To simplify the model we make the linear state equation by differentiating the nonlinear model. A reaction spring is installed in servo cylinder to secure the stability of the control system. We analyze the stability and disturbance by using the state variable model. Finally, we review the control performances of flow, pressure and power by tests using PID controller.

• Journal of Biomedical Engineering Research
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• v.43 no.2
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• pp.94-101
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• 2022

Recent advancement of micro/nano technology enables the development of diverse micro/nano particle-based delivery systems. Due to the multi-functionality and engineerability, particle-based delivery system are expected to be a promising method for delivery to the target cell. Since the particle-based delivery system should be delivered to the various kinds of target cell, including the cardiovascular system, cancer cell etc., it is frequently decorated with multiple kinds of targeting molecule(s) to induce specific interaction to the target cell. The surface decorated molecules interact with the cell surface expressed molecule(s) to specifically form a firm adhesion. Thus, in this study, the probability of adhesion is estimated to predict the possibility to form a firm adhesion for the multi-ligand decorated particle-based delivery system.

• Structural Engineering and Mechanics
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• v.82 no.4
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• pp.503-515
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• 2022

The multi-rigid-body matrix method (MRBMM) is a generalized modeling method for obtaining the displacements, forces, and dynamic characteristics of a compliant mechanism without performing inner-force analysis. The method discretizes a compliant mechanism of any type into flexure hinges and rigid bodies by implementing a multi-body mass-spring model using coordinate transformations in a matrix form. However, in this method, the deformations of bodies that are assumed to be rigid are inherently omitted. Consequently, it may yield erroneous results in certain mechanisms. In this paper, we present a multi-compliant-body matrix-method (MCBMM) that considers a rigid body as a compliant element, while retaining the generalized framework of the MRBMM. In the MCBMM, a rigid body in the MRBMM is segmented into a certain number of body nodes and flexure hinges. The proposed method was verified using two examples: the first (an XY positioning stage) demonstrated that the MCBMM outperforms the MRBMM in estimating the static deformation and dynamic mode. In the second example (a bridge-type displacement amplification mechanism), the MCBMM estimated the displacement amplification ratio more accurately than several previously proposed modeling methods.

• Earthquakes and Structures
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• v.1 no.1
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• pp.43-67
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• 2010

A gradient-based evolutionary optimization methodology is presented for finding the optimal design of both the added dampers and their supporting members to minimize an objective function of a linear multi-storey structure subjected to the critical ground acceleration. The objective function is taken as the sum of the stochastic interstorey drifts. A frequency-dependent viscoelastic damper and the supporting member are treated as a vibration control device. Due to the added stiffness by the supplemental viscoelastic damper, the variable critical excitation needs to be updated simultaneously within the evolutionary phase of the optimal damper placement. Two different models of the entire damper unit are investigated. The first model is a detailed model referred to as "the 3N model" where the relative displacement in each component (i.e., the spring and the dashpot) of the damper unit is defined. The second model is a simpler model referred to as "the N model" where the entire damper unit is converted into an equivalent frequency-dependent Kelvin-Voigt model. Numerical analyses for 3 and 10-storey building models are conducted to investigate the characters of the optimal design using these models and to examine the validity of the proposed technique.

• Journal of the Korean Society of Safety
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• v.25 no.3
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• pp.15-21
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• 2010

A differential case equipped with LSD(limited slip differential) has several advantages over a normal type for rear wheel drive vehicles. Specially, the torque distribution can be done between left and right drive wheel in the state of limited slip differential. Also although LSD types are very various according to operating type, medium and torque distribution, a multi-clutch type is generally applied to rear wheel drive vehicles. So, this study presents the analysis of design parameters for development of a friction plate for multi-clutch type LSD using vehicle road test, the simulation of analytical model and the development of vehicle dynamics model by a benchmark product. According to this investigation, the design parameters which are pre-load of coil spring, friction plate and contact area quantity, friction coefficient and TBR(torque bias ratio) for a friction plate are derived from experiment and simulation and consequently, vehicle dynamics model has been constructed for the development of friction plate for multi-clutch type LSD.

• Steel and Composite Structures
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• v.25 no.5
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• pp.625-638
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• 2017

This paper presents a novel approach that describes the first-order (linear elastic) partial interaction analysis of members formed by multi-components based on the Generalised Beam Theory (GBT). The novelty relies on its ability to accurately model the partial interaction between the different components forming the cross-section in both longitudinal and transverse directions as well as to consider the cross-sectional deformability. The GBT deformations modes, that consist of the conventional, extensional and shear modes, are determined from the dynamic analyses of the cross-section represented by a planar frame. The partial interaction is specified at each connection interface between two adjacent elements by means of a shear deformable spring distributed along the length of the member. The ease of use of the model is outlined by an application performed on a multi-component member subjected to an eccentric load. The values calculated with an ABAQUS finite element model are used to validate the proposed method. The results of the numerical applications outline the influence of specifying different rigidities for the interface shear connection and in using different order of polynomials for the shape functions specified in the finite element cross-section analysis.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.6
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• pp.703-709
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• 2008

In the shipyard, line heating and triangle heating are two major processes for forming curved plates in various shapes. While there have been many studies on line heating, triangle heating has been rarely studied due to its complicated heating process with irregular multi-heating paths and highly concentrated heat input. As the triangle heating process is one of the most labor-consuming jobs in shipyards, it is essential to study the automation as well as improvement of triangle heating process in order to increase hull forming productivity. In this study, a pioneering attempt to simulate triangle heating was made. A circular disk-spring model was proposed for elasto-plastic analysis procedure of triangle heating and the inherent strain method was also used to analyze the deformation of plates. Simulation results were compared with those of experiments and showed good agreement. It is shown that the present approach including analysis model used in this study is effective to simulate the triangle heating for plate forming process in shipbuilding.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.299-303
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• 2008

In this study, an uncertainty assessment for surface air temperature(T2m) and precipitation(PCP) over East Asia is carried out. The data simulated by the intergovermental Panel on Climate Change (IPCC) Fourth Assessment Report (AR4) Atmosphere-Ocean coupled general circulation Model (AOGCM) are used to assess the uncertainty. Examination of the seasonal uncertainty of T2m and PCP variabilities shows that spring-summer cold bias and fall warm bias of T2m are found over both East Asia and the Korea peninsula. In contrast, distinctly summer dry bias and winter-spring wet bias of PCP over the Korea peninsula is found. To investigate the PCP seasonal variability over East Asia, the cyclostationary empirical orthogonal function(CSEOF) analysis is employed. The CSEOF analysis can extract physical modes (spatio-temporal patterns) and their undulation (PC time series) of PCP, showing the evolution of PCP. A comparison between spatio-temporal patterns of observed and modeled PCP anomalies shows that positive PCP anomalies located in northeastern China (north of Korea) of the multi-model ensemble(MME) cannot explain properly the contribution to summer monsoon rainfalls across Korea and Japan. The uncertainty of modeled PCP indicates that there is disagreement between observed and MME anomalies. The spatio-temporal deviation of the PCP is significantly associated with lower- and upper-level circulations. In particular, lower-level moisture transports from the warm pool of the western Pacific and corresponding moisture convergence significantly contribute to summer rainfalls. These lower- and upper-level circulations physically consistent with PCP give a insight of the reason why differences between modeled and observed PCP occur.