• Bulletin of the Korean Chemical Society
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• v.24 no.6
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• pp.837-842
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• 2003

In ab initio molecular dynamics, whenever information about the potential energy surface is needed for integrating the equations of motion, it is computed “on the fly” using electronic structure calculations. For Born-Oppenheimer methods, the electronic structure calculations are converged, whereas in the extended Lagrangian approach the electronic structure is propagated along with the nuclei. Some recent advances for both approaches are discussed.

• Journal of KIISE:Databases
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• v.31 no.6
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• pp.664-674
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• 2004

The trajectory preservation property that stores only one trajectory in a leaf node is the most important feature of an index structure, such as the TB-tree for retrieving object's moving paths in the spatio-temporal space. It performs well in trajectory-related queries such as navigational queries and combined queries. But, the MBR of non-leaf nodes in the TB-tree have large amounts of dead space because trajectory preservation is achieved at the sacrifice of the spatial locality of trajectories. As dead space increases, the overlap between nodes also increases, and, thus, the classical range query cost increases. We present a new split policy and entry relocation policies, which have no deterioration of the performance for trajectory-related queries, for improving the performance of range queries. To maximally reduce the dead space of a non-leaf node's MBR, the Maximal Area Reduction (MAR) policy is used as a split policy for non-leaf nodes. The entry relocation policy induces entries in non-leaf nodes to exchange each other for the purpose of reducing dead spaces in these nodes. We propose two algorithms for the entry relocation policy, and evaluate the performance studies of new algorithms comparing to the TB-tree under a varying set of spatio-temporal queries.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.692-698
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• 2015

This paper represents a trajectory design and analysis technique which uses invariant manifolds of the circular restricted three body problem. Instead of the classical patched conic method based on 2-body problem, the equation of motion and dynamical behavior of spacecraft in the circular restricted 3-body problem are introduced, and the characteristics of Lyapunov orbits near libration points and their invariant manifolds are covered in this paper. The trajectories from/to Lyapunov orbits are numerically generated with invariant manifolds in the Earth-moon system. The trajectories in the Sun-Jupiter system are also analyzed with various initial conditions in the boundary surface. These methods can be effectively applied to interplanetary trajectory designs.

• Bulletin of the Korean Chemical Society
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• v.33 no.3
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• pp.933-940
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• 2012

Recently, it has been shown that quantum coherence appears in energy transfers of various photosynthetic lightharvesting complexes at from cryogenic to even room temperatures. Because the photosynthetic systems are inherently complex, these findings have subsequently interested many researchers in the field of both experiment and theory. From the theoretical part, simplified dynamics or semiclassical approaches have been widely used. In these approaches, the quantum-classical Liouville equation (QCLE) is the fundamental starting point. Toward the semiclassical scheme, approximations are needed to simplify the equations of motion of various degrees of freedom. Here, we have adopted the Poisson bracket mapping equation (PBME) as an approximate form of QCLE and applied it to find the time evolution of the excitation in a photosynthetic complex from marine algae. The benefit of using PBME is its similarity to conventional Hamiltonian dynamics. Through this, we confirmed the coherent population transfer behaviors in short time domain as previously reported with a more accurate but more time-consuming iterative linearized density matrix approach. However, we find that the site populations do not behave according to the Boltzmann law in the long time limit. We also test the effect of adding spurious high frequency vibrations to the spectral density of the bath, and find that their existence does not alter the dynamics to any significant extent as long as the associated reorganization energy is changed not too drastically. This suggests that adopting classical trajectory based ensembles in semiclassical simulations should not influence the coherence dynamics in any practical manner, even though the classical trajectories often yield spurious high frequency vibrational features in the spectral density.

• Nuclear Engineering and Technology
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• v.52 no.9
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• pp.2017-2024
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• 2020

In this study, a fractional order proportional integral derivative (FOPID) controller is designed to create the reference power trajectory and to conquer the uncertainties and external disturbances. A fractional nonlinear model was utilized to describe the nuclear reactor dynamic behaviour considering thermal-hydraulic effects. The controller parameters were tuned using optimization method in Matlab/Simulink. The FOPID controller was simulated using Matlab/Simulink and the controller performance was evaluated for Hard variation of the reference power and compared with that of integer order a proportional integral derivative (IOPID) controller by two models of fractional neutron point kinetic (FNPK) and classical neutron point kinetic (CNPK). Also, the FOPID controller robustness was appraised against the external disturbance and uncertainties. Simulation results showed that the FOPID controller has the faster response of the control attempt signal and the smaller tracking error with respect to the IOPID in tracking the reference power trajectory. In addition, the results demonstrated the ability of FOPID controller in disturbance rejection and exhibited the good robustness of controller against uncertainty.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.238-243
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• 1999

Minimum-fuel and -time orbit transfer are two major goals of the satellite trajectory optimization. In this paper, we consider satellites in two coplanar elliptic orbits when the apsidal lines coincide, and analytically find the conditions for the two-impulse minimum-time transfer orbit using Lambert's theorem. The transfer time is a decreasing function of a variable related to the transfer orbit's semimajor axis in the minimum-time case. In the minimum-time case, there is no unique minimum-time solution, but there is a limiting solution. However, there exists a unique solution in the case of minimum-fuel transfer, fur which we find analytically the necessary and sufficient conditions. As a special case, we consider when the transfer angle is one hundred and eighty degrees. In this case, we show that we obtain the classical fuel-optimal Hohmann transfer orbit. We also derive the Hohmann transfer rime and delta-velocity equations from more general equations, which are obtained using Lambert's theorem. We note the tradeoff between minimum-time and - fuel transfer. An optimal coplanar orbit maneuver algorithm to trade off the minimum-time goal against the minimum-fuel goal is proposed. Finally, the numerical simulation results are given to demonstrate the derived theory and the algorithm.

• Advances in robotics research
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• v.2 no.3
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.211-224
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• 2019

This paper deals with a nonlinear controller based on saturation functions with variable parameters for set-point regulation and trajectory tracking control of an Autonomous Underwater Vehicle (AUV). In many cases, saturation functions with constant parameters are used to limit the input signals generated by a classical PD (Proportional-Derivative) controller to avoid damaging the actuators; however this abrupt bounded harms the performance of the controller. We, therefore, propose to replace the conventional saturation function, with constant parameters, by a saturation function with variable parameters to limit the signals of a PD controller, which is the base of the nonlinear PD with gravitational/buoyancy compensation and the nonlinear PD + controllers that we propose in this paper. Consequently, the mathematical model is obtained, considering the featuring operation of the underwater vehicle LIRMIA 2, to do the stability analysis of the closed-loop system with the proposed nonlinear controllers using the Lyapunov arguments. The experimental results show the performance of an AUV (LIRMIA 2) for the depth control problems in the case of set-point regulation and trajectory tracking control.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.11a
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• pp.483-488
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• 2001

The RC beams subjected to bending and shear are an important substructure. After flexural cracking, the internal stress state in the beam could not be explained by the classical beam theory. In this study the internal force state factor is introduced to explain the stress state change in the RC beams. The internal force state factor of uniform load was expanded by superposition method using infernal force state factor of point load. As the load types change, the operator that would be calculated the internal force state factor was proposed.