• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.3
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• pp.50-61
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• 1994

A method for performing dynamic design sensitivity analysis of vehicle suspension systems which have three dimensional closed-loop kinematic structure is presented. A recursive form of equations of motion for a MacPherson suspension system is derived as basis for sensitivity analysis. By directly differentiating the equations of motion with respect to design variables, sensitivity equations are obtained. The direct generalize for the application of multibody dynamic sensitivity analysis. Based on the proposed sensitivity analysis, optimal design of a MacPherson suspension system is carried out taking unsprung mass, spring and damping coefficients as design variables.

• Bulletin of the Korean Mathematical Society
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• v.48 no.6
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• pp.1271-1290
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• 2011

The purpose of this paper is to investigate the controllability of certain types of second order nonlinear impulsive systems with statedependent delay. Sufficient conditions are formulated and the results are established by using a fixed point approach and the cosine function theory Finally examples are presented to illustrate the theory.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2483-2490
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• 1993

This paper presents a systematic formulation for the kinematic and dynamic analysis of flexible multibody systems. The system equations of motion are derived in terms of relative and elastic coordinates using velocity transformation technique. The position transformation equations that relate the relative and elastic coordinates to the Cartesian coordinates for the two contiguous flexible bodies are derived. The velocity transformation matrix is derived systematically corresponding to the type of kinematic joints connecting the bodies and system path matrix. This matrix is employed to represent the equations of motion in relative coordinate space. Two examples are taken to test the method developed here.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1999-2001
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• 2001

The infinite time optimum to regulate the problem of weakly coupled bilinear systems with a quadratic performance criterion is obtained by a sequence of algebraic Lyapunov equations. The new approach is based on the successive approximations. In particular, the order reduction is achieved by using suitable state transformation so that the original Lyapunov equations are decomposed into the reduced-order local Lyapunov equations. The proposed algorithms not only solve optimal control problems in the weakly coupled bilinear system but also reduce the computation time. This paper also includes an example to demonstrate the procedures.

• Communications of the Korean Mathematical Society
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• v.32 no.4
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• pp.959-970
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• 2017

In this paper, we investigate the transcendental meromorphic solutions with finite order of two different types of difference equations $${\sum\limits_{j=1}^{n}}a_jf(z+c_j)={\frac{P(z,f)}{Q(z,f)}}={\frac{{\sum_{k=0}^{p}}b_kf^k}{{\sum_{l=0}^{q}}d_lf^l}}$$ and $${\prod\limits_{j=1}^{n}}f(z+c_j)={\frac{P(z,f)}{Q(z,f)}={\frac{{\sum_{k=0}^{p}}b_kf^k}{{\sum_{l=0}^{q}}d_lf^l}}$$ that share three distinct values with another meromorphic function. Here $a_j$, $b_k$, $d_l$ are small functions of f and $a_j{\not{\equiv}}(j=1,2,{\ldots},n)$, $b_p{\not{\equiv}}0$, $d_q{\not{\equiv}}0$. $c_j{\neq}0$ are pairwise distinct constants. p, q, n are non-negative integers. P(z, f) and Q(z, f) are two mutually prime polynomials in f.

• Journal of KSNVE
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• v.9 no.1
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• pp.103-112
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• 1999

A new modeling and analysis technique for one-dimensional distributed parameter systems is presented. First. discretized equations of motion in Laplace domain are derived by applying discretization methods for partial differential equations of a one-dimensional structure with respect to spatial coordinate. Secondly. the z and inverse z transformations are applied to the discretized equations of motion for obtaining a dynamic matrix for a uniform element. Four different discretization methods are tested with an example. Finally, taking infinite on the number of step for a uniform element leads to an exact dynamic matrix for the uniform element. A generalized modal analysis procedure for eigenvalue analysis and modal expansion is also presented. The resulting element dynamic matrix is tested with a numerical example. Another application example is provided to demonstrate the applicability of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.608-613
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• 2006

Any input acceleration that bends RLG dithering axis causes flexure error, which is a source of the noncommutative error that can not be compensated by simply using integrated gyro sensor output. This paper introduces noncommutative error equations that define attitude errors caused by flexure errors. In this paper, flexure error is classified as sensor level error if the sensing axis coincides with the dithering axis and as system level error if the two axes do not coincide. The relationship between gyro output and the rotation vector is introduced and is used to define the coordinate transformation matrix and angular motion. Equations are derived for both sensor level and system level flexure error analysis. These equations show that RLG based INS attitude error caused by flexure is directly proportional to time, amount of input acceleration and the dynamic frequency of the vehicle.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.10
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• pp.77-85
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• 1993

In this paper, we present a method to solve a convexly combined fuzzy relational equation with generalized connectives. For this, we propose a neural network whose structure represents the fuzzy relational equation. Then we derive a learning algorithm by using the concept of back-propagation learning. Since the proposed method can be used for a general form of fuzzy relational equations, such fuzzy max-min or min-max relational equations can be treated as its special cases. Moreover, the relational structure adopted in the proposed neurocomputational approach can work in a highly parallel manner so that real-time applications of fuzzy sets are possibles as in fuzzy logic controllers, knowledge-based systems, and pattern recognition systems.

• 한국전산유체공학회:학술대회논문집
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• 1995.04a
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• pp.38-43
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• 1995

Effect of visualization as a tool for the education of fluid dynamics is mainly discussed. Visualized images are much more understandable compared to the explanation using equations and texts. Several examples are presented to clarify this statement. Then, the software system for teaching fluid dynamics using the results by the numerical simulation is discussed. Two important issues on what is needed in the system are given. First, such systems should be capable of animating images. Second, such systems should be interactively used by students. Changing parameters, coefficients, equations, etc. themselves and watching the difference are important for them to understand the nature of physics underlying the equations. The teaching system with visualization is no doubt a good tool for introducing fluid dynamics.