• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.231-236
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• 1997

We propose the hybrid control for the path control of wheeled mobile robot system. To develop the hybrid control of mobile robot, the continuous dynamics of mobile robot are modeled by the switched systems. The abstract model and digital automata for the path control are developed. This hybrid control system has the 3-layered hierachical structure : digital automata as the higher process, mobile robot system as the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. The control of following the desired-paths with edges are investigated as the applications by the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.160.4-160
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• 2001

Many physical systems today are modeled by interacting continuous and discrete states that influence the dynamic behavior. Hybrid system models, suitable for describing the essential dynamics of a fairly large class of physical systems in control engineering applications, contain both continuous dynamics and discrete dynamics. We discuss the design of efficient hybrid controllers for the platoon maneuvers on an AHS. For the modeling of a hybrid system including the merge and split operations, we introduce the safety distance policy for the merge and split operations. Then, the platoon system will be modeled by a hybrid system. In addition, the hybrid controller for the proposed merge and split operation models will be presented. Finally, we will demonstrate our scenarios ...

• Journal of the Korean Physical Society
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• v.73 no.12
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• pp.1899-1903
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• 2018

The effects of introducing hybrid lipids to a lipid bilayer containing saturated and unsaturated lipids immersed in water were studied. The lipid and water molecules were modeled as coarse-grained particles. All particles were simulated by using the dissipative particle dynamics method. The results showed that the hybrid lipids accumulated at the interface between the saturated and the unsaturated lipid domains. The relation between the hybrid lipid concentration and the equilibrium domain size was obtained. Moreover, the sizes of the simulated lipid domains are consistent with that given by the lipid raft definition.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.1
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• pp.41-55
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• 2015

This study is proposed a new hybrid mount having a moving-magnet type electromagnetic actuator to reduce the vibration transmitted from naval shipboard equipment to the structure of the ship's hull. Optimal design specifications are determined through experimental analysis. The detailed design of the hybrid mount is determined through several design steps with electromagnetic numerical analysis using Maxwell Software(S/W). The hybrid mount that combines a rubber mount and an electromagnetic actuator has a fail-safe function for shock resistance. The mount is fabricated and tested using a universal testing machine to evaluate the design specifications. Finally, numerical simulation of the hybrid mount is performed to confirm control performance and applicability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1227-1234
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• 2001

A multi d.o.f robotic manipulator is considered for multi-axis vibration control of a slender structure, using the concept of the flow source based vibration control. In order not to cause the motion saturation of the manipulator system, a hybrid dynamics associated with the flexible and desired manipulator error dynamics is also modeled as the control object. It is numerically shown that the flexible vibrations and the base motions of a test structure can be effectively controlled with the proposed hybrid dynamics.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.4
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• pp.507-514
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• 2012

The present study is the analyses of what has been attempted and what was understood in terms of improving the regression rate and enlarging the basic understanding of internal flow dynamics. The first part is mainly intended to assess the role of helical grain configuration in the regression rate inside the hybrid rocket motor. To improve the regression rate, a combination of swirl (which is an active method) and helical grain (which is a passive method) was adopted. The second part is devoted to the internal flow dynamics of hybrid rocket combustion. A large eddy simulation was also performed with an objective of understanding the origin of isolated surface roughness patterns seen in several recent experiments. Several turbulent statistics and correlations indicate that the wall injection drastically changes the characteristics of the near-wall turbulence. Contours of instantaneous streamwise velocity in the plane close to the wall clearly show that the structural feature has been significantly altered by the application of wall injection, which is reminiscent of the isolated roughness patterns found in several experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• Communications for Statistical Applications and Methods
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• v.10 no.1
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• pp.203-210
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• 2003

In a standard Metropolis-type Monte Carlo simulation, the proposal distribution cannot be easily adapted to "local dynamics" of the target distribution. To overcome some of these difficulties, Duane et al. (1987) introduced the method of hybrid Monte Carlo(HMC) which combines the basic idea of molecular dynamics and the Metropolis acceptance-rejection rule to produce Monte Carlo samples from a given target distribution. In this paper, using the HMC within Gibbs sampler, an asymptotical estimate of the smoothing mean and a general solution to state space modeling in Bayesian framework is obtaineds obtained.