• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.152-160
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• 2007

In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.4
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• pp.730-734
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• 2013

The dynamic simulation of machine tools and motion control systems has been widely used for optimization, design verification, control design, etc. There are three main streams in dynamic simulation: structural dynamic analysis based onthe finite element method, dynamic motion analysis based on equations of motion, and control system analysis based on transfer functions. Generally, one of these dynamic simulation methods is chosen and employed for specific purposes. In this study, an integrated dynamic simulation is introduced, in which the structure, motion, and control dynamics are combined together. Commercially well-known software is used in the integrated dynamic simulation: ANSYS, ADAMS, and Matlab/Simulink. Using the integrated dynamic simulation, the dynamics of a magnetic bearing stage is analyzed and the causes of oscillation and noise are identified. A controller design for suppressing a flexible dynamic mode is carried out and verified through the integrated dynamic simulation.

• ETRI Journal
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• v.43 no.3
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• pp.471-482
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• 2021

Several code-division multiple access (CDMA)-based interconnect schemes have been recently proposed as alternatives to the conventional time-division multiplexing bus in multicore systems-on-chip. CDMA systems with a dynamic assignment of spreading codewords are particularly attractive because of their potential for higher bandwidth efficiency compared with the systems in which the codewords are statically assigned to processing elements. In this paper, we propose a novel distributed arbitration scheme for dynamic CDMA-bus-based systems, which solves the complexity and scalability issues associated with commonly used centralized arbitration schemes. The proposed arbitration unit is decomposed into multiple simple arbitration elements, which are connected in a ring. The arbitration ring implements a token-passing algorithm, which both resolves destination conflicts and assigns the codewords to processing elements. Simulation results show that the throughput reduction in an optimally configured dynamic CDMA bus due to arbitration-related overheads does not exceed 5%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.399-407
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• 1998

This paper deals with a method for finding the physical structure of dynamic systems which shows reasonable response to a given specifiation. The method uses only four basic models of bond graph prototypes which have been originally proposed by the authors as a general model for dynamic systems, and then makes its procedure highly physical in the sense that it can synthesize a dynamic system through the structural transformation directly on bond graph models without any mathematical manipulation. Also, it is shown that this method has further advantages in optimizing parameters for an existing system rather than developing design concepts for a new device, the latter being more suitable using the so-called analytical synthesis method introduced by Park and Redfield. One example serves to trace the outlines of the direct synthesis method proposed in this paper for dynamic systems in terms of bond graph prototypes.

• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.3
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• pp.66-78
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• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.32 no.3
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• pp.10-19
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• 2009

Wireless LAN systems have been widely implemented for supporting the wireless internet services especially in the hotspot areas such as hospitals, homes, conference rooms, and so on. Compared with wired LAN systems, wireless LAN systems have the advantages of the users' mobility support and low implementation and maintenance costs. IEEE 802.11 wireless LAN systems employ the backoff algorithm to avoid contentions among STAs when two or more STAs attempt to transmit their data frames simultaneously. The MAC efficiency can be improved if the CW values are adaptively changed according to the channel state of IEEE 802.11 wireless LANs. In this paper, a dynamic contention window control algorithm is proposed using the genetic algorithm to improve the MAC throughput of IEEE 802.11 wireless LANs.

• International Journal of Air-Conditioning and Refrigeration
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• v.8 no.1
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• pp.14-28
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• 2000

The frequency response characteristics of a condenser were numerically studied for the control of refrigeration and air conditioning systems. The important parameters, such as the refrigerant flow rate, refrigerant temperature, air velocity, and air temperature at the condenser inlet, were analyzed. Superheated vapor, two phase, and subcooled liquid domain in condenser can be described by using the energy balance equation and the mass balance equation in refrigerant and tube wall, the basic equation for describing the dynamic characteristics of condenser can be derived. The transfer function for describing dynamic response of the condenser to disturbances can be obtained from using linearizations and Laplace transformations of the equation. From this transfer function, analytical investigation which affects the frequency responses of condenser has been made. Block diagrams were made based on the analytic transfer function; dynamic responses were evaluated in Bode diagrams on the frequency response. Through this study, it became possible that the information about the dynamic characteristics of air-cooled condenser is offered. The results may be used for determining the optimum design parameters in actual components and entire systems. Also, the mathematical models, frequency response may be used to help understanding, evaluate optimum design parameters, design control systems and determine on setting the best controller for the refrigeration and air-conditioning systems.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.968-973
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• 2000

Fault diagnosis plays an important role in the performance and safe operation of many modern engineering plants. This paper investigates the problem of fault detection using neural networks in dynamic systems. A general framework for constructing a nonlinear fault detection scheme for nonlinear dynamic systems containing modeling uncertaintly is proposed. The main idea behind the proposed approach is to monitor the physical system with an off -line learning neural network and then to approximate the upper and lower thresholds of acceleration of the nominal system with the model-based threshold(ThMB) method, The performance of the proposed fault detection scheme is investigated through simulations of a pendulum with uncertainty.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.442-448
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• 2000

The conventional control of dynamic systems needs accurate mathematical modeling of control systems. But the modeling of dynamic systems require very complex computation process due to complex state equation and many control parameters. Accordingly this paper proposes a state space identification model of the dynamic system using neural networks. The Gauss-Newton method is used to train the proposed neural network and the effectiveness of proposed method is verified through the computer simulation of the Seesaw system identification problem.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.658-663
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• 2003

In deterministic design of feedback controllers for uncertain dynamic systems, the upper bound of the uncertainty is very important to guarantee the stability of the closed loop system. In this paper, we assume that the upper bound of the uncertainty is formulated using a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. We propose an adaptation law that is capable of estimating this upper bound. Using this adaptive upper bound, we design an adaptive variable structure control (AVSC), which guarantees asymptotic stability/ultimate boundedness of uncertain dynamic systems. The illustrative example shows the proposed AVSC is effective for uncertain dynamic systems.