• Title, Summary, Keyword: Dynamic modeling

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REVIEW OF VARIOUS DYNAMIC MODELING METHODS AND DEVELOPMENT OF AN INTUITIVE MODELING METHOD FOR DYNAMIC SYSTEMS

  • Shin, Seung-Ki;Seong, Poong-Hyun
    • Nuclear Engineering and Technology
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    • v.40 no.5
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    • pp.375-386
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    • 2008
  • Conventional static reliability analysis methods are inadequate for modeling dynamic interactions between components of a system. Various techniques such as dynamic fault tree, dynamic Bayesian networks, and dynamic reliability block diagrams have been proposed for modeling dynamic systems based on improvement of the conventional modeling methods. In this paper, we review these methods briefly and introduce dynamic nodes to the existing reliability graph with general gates (RGGG) as an intuitive modeling method to model dynamic systems. For a quantitative analysis, we use a discrete-time method to convert an RGGG to an equivalent Bayesian network and develop a software tool for generation of probability tables.

An Efficient Dynamic Modeling Method for Hybrid Robotic Systems

  • Chung, Goo-Bong;Yi, Byung-Ju
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2719-2724
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    • 2003
  • In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

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Singularity-Free Dynamic Modeling Including Wheel Dynamics for an Omni-Directional Mobile Robot with Three Caster Wheels

  • Chung, Jae-Heon;Yi, Byung-Ju;Kim, Whee-Kuk;Han, Seog-Young
    • International Journal of Control, Automation, and Systems
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    • v.6 no.1
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    • pp.86-100
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    • 2008
  • Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

A Study of Dynamic Modeling of a Magnetic Levitation Vehicle (자기부상열차의 동적 모델링 연구)

  • 한형석;조홍재;김동성
    • Journal of the Korean Society for Precision Engineering
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    • v.20 no.6
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    • pp.160-166
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    • 2003
  • Interest in advanced vehicles results in correspondingly increased interest in modeling and simulation of the dynamic behavior of Maglev-type vehicle systems. DADS is a program especially suited for the analysis of multibody mechanical systems. This paper demonstrates the application of DADS to the dynamic modeling and simulation of such advanced vehicles. A brief description is made of the modeling requirements of magnetically levitated systems, along with a summary of some of the related capabilities of DADS. As a case study, an analysis of a vehicle based on the UTM01 system is presented. This paper shows that the presented modeling technique is applicable to the dynamic characteristics evaluation and control law design of Maglev- type vehicles.

Dynamic Modeling of a Novel ATC Mechanism based on 4-bar Linkage (4절링크를 기반으로 하는 신개념 ATC 메커니즘의 동역학 해석)

  • Lee, Sangho;Kim, Jong-Won;Seo, TaeWon;Kim, Jongwon
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.4
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    • pp.307-314
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    • 2016
  • Recently, demands on the tapping machine are increased due to the case of a cell phone is changed to metal such as aluminum. The automatic tool changer (ATC) is one of the most important devices for the tapping machine related to the speed and energy consumption of the machine. To reduce the consumed energy and vibration, the dynamic modeling is essential for the ATC. In this paper, inverse dynamic modeling of a novel ATC mechanism is introduced. The proposed ATC mechanism is composed of a double four-bar mechanism with a circular tablet to generate continuous rotation of the tablet. The dynamic modeling is performed based on the Lagrange equation with a modeling for the contact between the four-bar and the tablet. Simulation results for various working conditions are proposed and analyzed for the prototype design. The dynamic modeling can be applied to determine the proper actuator and to reduce the vibration and consumed energy for the ATC machine.

Characteristics Modeling of Dynamic Systems Using Adaptive Neural Computation (적응 뉴럴 컴퓨팅 방법을 이용한 동적 시스템의 특성 모델링)

  • Kim, Byoung-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.4
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    • pp.309-314
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    • 2007
  • This paper presents an adaptive neural computation algorithm for multi-layered neural networks which are applied to identify the characteristic function of dynamic systems. The main feature of the proposed algorithm is that the initial learning rate for the employed neural network is assigned systematically, and also the assigned learning rate can be adjusted empirically for effective neural leaning. By employing the approach, enhanced modeling of dynamic systems is possible. The effectiveness of this approach is veri tied by simulations.

Systematic Dynamic Modeling of an Integrated Single-stage Power Converter

  • Choi, Ki-Young;Lee, Kui-Jun;Kim, Yong-Wook;Kim, Rae-Young
    • Journal of Electrical Engineering and Technology
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    • v.10 no.6
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    • pp.2288-2296
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    • 2015
  • This paper proposes a novel systematic modeling approach for an integrated single-stage power converter in order to predict its dynamic characteristics. The basic strategy of the proposed modeling is substituting the internal converters with an equivalent current source, and then deriving the dynamic equations under a standalone operation using the state-space averaging technique. The proposed approach provides an intuitive modeling solution and simplified mathematical process with accurate dynamic prediction. The simulation and experimental results by using an integrated boost-flyback converter prototype provide verification consistent with theoretical expectations.

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion (회전과 뒤집기 방식의 계단등반 로봇의 역동역학 모델링)

  • Choi, Jae Neung;Jeong, Kyungmin;Seo, TaeWon
    • 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.

Dynamic System Modeling for Closed Loop Supply Chains System

  • Wadhwa, Subhash;Madaan, Jitendra
    • Industrial Engineering and Management Systems
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    • v.7 no.1
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    • pp.78-89
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    • 2008
  • The need for holistic modeling efforts for returns that capture the extended closed loop supply chain (CLSC) system at strategic as well as operational level has been clearly recognized by the industry and academia. Strategic decision-makers need comprehensive models that can guide them in efficient decision-making to increase the profitability of the entire forward and return chain. Therefore, determination of a near optimal design configuration, which includes the environmental, economical and technological capability factors, is important in strategic decision-making effort that affect the profitability of the closed loop supply chain. In this paper, we adopted an improved system dynamics methodology to tackle strategic issues that affect various performance measures, like market, time/cost, environment etc., for closed loop supply chains. After studying real life implementation issues in CLSC design, we presented guidelines for the PBM (Participative Business Modeling) methodology and presented its extension for the strategic dynamic system modeling of return chains. Finally, we demonstrated the measurement of operational performance by extending SD (system dynamic) application to closed loop supply chain management.

Modeling and Dynamic Analysis of Microturbine and Fuel Cell Using EMTP (EMTP를 이용한 마이크로터빈과 연료전지의 모델링 및 동특성 해석)

  • Kwon, Kyung-Ha;Baek, Young-Sik;Jyung, Tae-Young
    • Proceedings of the KIEE Conference
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    • pp.1170-1171
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    • 2008
  • Microsources supply high quality power from 1kW to a matter of MW with higher reliability and energy efficiency than the existing large power facilities. In this paper, we designed dynamic modeling of Microturbine and Fuel cell being worthy as a small distributed energy source. Using EMTP we designed the dynamic modeling and confirmed characteristics of steady-state and dynamic analysis. In this paper, we designed dynamic modeling of Microturbine and Fuel cell being worthy as a small distributed energy source and analyzed dynamic characteristics corresponding to load variation.

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