• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.36 no.4
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• pp.25-30
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• 2013

This article deals with the transient analysis in bicycle shifting using a discrete chain model. Among the various components of a bicycle, we focused in the power-transmissions on the contact points between the chain element and sprocket. And by imposing kinematic motions on the front and rear derailleurs, we analyzed the shifting mechanism for increasing the rotational speed of rear wheel. In order to build the dynamic analysis model, we first tore down the real bicycle and measured each component's design parameters. Then we made 3-dimensional CAD models for each component related to the power transmission of a bicycle. Using the converted 3-dimensional dynamic model for the simulation program, we performed non-shifting and shifting dynamic analysis. As a result, we investigated the dynamic behaviors of a discrete chain model focused on the interaction between the chain and sprocket wheel.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.10
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• pp.125-131
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• 2000

By using the test of signal error, model structure of an electrohydraulic servo system is determined. For determining parameter of the electrohydraulic servo system, using time discrete model of parametric method, parameters in time discrete model are searched by the least square method. By bilinear transform, we have found the model of electrohydraulic servo system in s domain. Afterwards, we have compared experimental data with simulation data by MATLAB having the identified parameter. As the result, experimental data is agreed with simulation data very well.

• Journal of the Korean Statistical Society
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• v.31 no.2
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• pp.177-198
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• 2002

The estimation of variance components or variance ratios in linear model is an important issue in plant or animal breeding fields, and various estimation methods have been devised to estimate variance components or variance ratios. However, many traits of economic importance in those fields are observed as dichotomous or polychotomous outcomes. The usual estimation methods might not be appropriate for these cases. Recently threshold linear model is considered as an important tool to analyze discrete traits specially in animal breeding field. In this note, we consider a hierarchical Bayesian method for the threshold animal model. Gibbs sampler for making full Bayesian inferences about random effects as well as fixed effects is described to analyze jointly discrete traits and continuous traits. Numerical example of the model with two discrete ordered categorical traits, calving ease of calves from born by heifer and calving ease of calf from born by cow, and one normally distributed trait, birth weight, is provided.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.318-322
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• 1996

In this study, a controller design method is proposed for controlling the discrete-time chaotic systems efficiently. Our proposed control method is based on Generalized Predictive Control and uses NARMAX models as a controlled model. In order to evaluate the performance of our proposed controller design method, a proposed controller is applied to Henon system which is a discrete-time chaotic system, and then the control performance of the proposed controller are compared with those of the previous model-based controllers through computer simulations. Through simulations, it is shown that the control performance of the proposed controller is superior to that of the conventional model-based controller.

• Computers and Concrete
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• v.34 no.2
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• pp.231-245
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• 2024

A 3D discrete element model integrating the rough surface contact concept with the flat-joint model is suggested to examine the mechanical characteristics of the interfacial transition zone (ITZ) in concrete. The essential components of our DEM procedure include the calculation of the actual contact area in an element contact-pair related to the bonded factor using a Gaussian probability distribution of asperity height, as well as the determination of the contact probability-relative displacement form using the least square method for further computing the force-displacement of ITZs. The present formulations are implemented in MUSEN, an open source development environment for discrete element analysis that is optimized for high performance computation. The model's meso-parameters are calibrated by using uniaxial compression and splitting tensile simulations, as well as laboratory tests of concrete from the literature. The present model's DEM predictions accord well with laboratory experimental tests of pull-out concrete specimens published in the literature.

• Journal of Biomedical Engineering Research
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• v.16 no.4
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• pp.415-424
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• 1995

Combined models, specified by two or more modeling formalisms, can represent a wide variety of complex systems. This paper describes a methodology for the development of combined models in two model types of discrete event and continuous process. The methodology is based on transformation of continuous state space into discrete one to homomorphically represent dynamics of continuous processes in discrete events. This paper proposes a formal structure which can combine model of the DES and the CS within a framework. The structure employs the DEVS formalism for the DES models and differential or polynomial equations for the CS models. To employ the proposed structure to specify a DEVS/CS combined model, a modeler needs to take the following steps. First, a modeler should identify events in the CS and transform the states of the CS into the DES. Second, a modular employs the formalism to specify the system as the DES. Finally, a moduler developes sub-models for the CS and continguos states of the DES and establishs one-to-one correspondence between the sub-models and such states. The proposed formal structre has been applied to develop a DEVS/CS combined model for the human cardiovascular system. For this, the cardiac cycle is partitioned into a set of phases based on events identified through observation. For each phase, a CS model has been developed and associated with the phase. To validate the DEVS/CS combined model developed, then simulate the model in the DEVSIM + + environment, which is a model simulation results with the results obtained from the CS model simulation using SPICE. The comparison shows that the DEVS/CS combined model adequately represents dynamics of the human heart system at each phase of cardiac cycle.

• 한국데이터정보과학회:학술대회논문집
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• 2006.04a
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• pp.39-42
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• 2006

We propose a Bayesian model-based approach using a mixture of Dirichlet processes model with discrete wavelet transform, for curve clustering in the microarray data with time-course gene expressions.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.8
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• pp.333-340
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• 1986

This paper presents an approach for determining the discrete reduced-order models for largescale system by using matrix sign function. We define projection operators based on the matrix sign function and develop the algorithm for model-reduction by using them. Simulation studies show that the proposed altgorithm is very useful.

• Korean Journal of Computational Design and Engineering
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• v.18 no.3
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• pp.224-233
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• 2013

For the scheduling and the job assignment of the ship hull production design which is a process-based work, we suggest the simulation-based scheduling using the discrete-event-based business process simulation. First, we analyze the ship hull production design process from the perspective of a job assignment to make it into the simulation model using DEVS (Discrete Event System Specification) which is the representative modeling method for a discrete-event simulation. Based on the APIs of the open-source discrete-event simulation engine, we implement the simulation using the Groovy script. We develop the scenario generator in which the user defines detail information of the construction drawing and its member blocks, and design engineers information, and the various setting for the simulation including the job assignment strategy. We use the XML files from this scenario generator as inputs of simulation so that we can get simulation result in forms of Gantt chart without changes of the simulation model.