• 한국정밀공학회지
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• 제26권3호
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• pp.129-136
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• 2009

The estimation of muscle force is important to understand the roles of the muscles. The static optimization method can be used to figure out the individual muscle forces. However, muscle forces during the movement including muscle co-contraction cannot be considered by the static optimization. In this study, a hybrid static optimization method was introduced to find the well-matched muscle forces with EMG signals under muscle co-contraction conditions. To validate the developed algorithm, the 3D motion analysis and its corresponding inverse dynamics using the musculoskeletal modeling software (SIMM) were performed on heel-rise movements. Results showed that the developed algorithm could estimate the acceptable muscle forces during heel-rise movement. These results imply that a hybrid numerical approach is very useful to obtain the reasonable muscle forces under muscle co-contraction conditions.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1891-1899
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• 2004

The characteristics of dynamic systems subjected to multiple linear constraints are determined by considering the constrained effects. Although there have been many researches to investigate the dynamic characteristics of constrained systems, most of them depend on numerical analysis like Lagrange multipliers method. In 1992, Udwadia and Kalaba presented an explicit form to describe the motion for constrained discrete systems. Starting from the method, this study determines the dynamic characteristics of the systems to have positive semidefinite mass matrix and the continuous systems. And this study presents a closed form to calculate frequency response matrix for constrained systems subjected to harmonic forces. The proposed methods that do not depend on any numerical schemes take more generalized forms than other research results.

• 한국농공학회논문집
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• 제53권5호
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• pp.1-7
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• 2011

The objective of this study is to decide a spatial interpolation method on temperature data for the suitability analysis of garlic cultivation. In Korea, garlic is the second most cultivated condiment vegetable after red pepper. Nowadays warm-temperate garlic faces potential shift of its arable area according to warmer temperature in the Korean Peninsula, and the change can be drawn with the precise temperature map derived from interpolation on point-measured data. To find the preferable interpolation method in cases of germination and vegetative period of the garlic, different approaches were tested as follows: Inverse Distance Weighted (IDW), Spline, Ordinary Kriging (OK), and Universal Kriging (UK). As a result, IDW and UK show the lowest root mean square errors as for the germination and vegetative seasons, respectively. However, statistically significant difference was not revealed among the applied methods regarding the germinating period. Eventually this will contribute to mapping the suitable lands for the cultivation of warm-temperate garlic reasonably.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.510-518
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• 2004

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2009년도 특별 심포지엄
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• pp.101-118
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• 2009

In order to invest in overseas mineral projects, it is necessary to have a ability of technical and financial evaluation. Reserve estimation is the most important for mineral appraisal. Geostatistical evaluation of tonnage and grade promises more accurate reserve estimation than traditional methods such as polygon, inverse distance method and so on even if it has some uncertainty. Selection of a mining method and a mineral processing is also important because capex and opcosts of a mineral project is due to the selection. Mineral project is usually evaluated financially using NPV and IRR which are calculated through DCF(Discount Cash Flow). Uncertainty of a mineral project is analyzed statistically using sensitivity analysis and montecarlo simulation.

• 한국전자파학회논문지
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• 제11권3호
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• pp.464-473
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• 2000

The method is presented which predicts voltage waveforms at each nodes inter-connected arbitrarily on the coupled transmission lines by extracting the node connection condition to be included in the modal telegrapher's equation, hence analyzing the mechanism of waveform propagation on transmission lines. It is shown that it is also possible to analyze efficiently the coupled nonuniform lines. And then the nonuniformity of coupled lines is demonstrated for suppressing the crosstalk spikes using the one-dimensional inverse-scattering control theory. The predicted waveforms by presented method are analyzed and verified by comparison with those by the generalized S-parameter technique.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.529-535
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• 2000

This paper propose the method to obtain the inverse kinematics and the Jacobian of the 5-bar parallel robot and apply the nonlinear controller to the 5-bar parallel robot with the dynamic analyses using the Jacobian of the Passive joints with respect to the active ones and singular value decomposition(SVD). It also experimentally shows that we can do high-speed and accuracy tasks using nonlinear control method. And it explains the relation between the property of the position control and manipulability using a new performance index.

• 한국생산제조학회지
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• 제19권2호
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• pp.191-197
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• 2010

In spite of a large amount of previous research, detail study on modified mass in proportional damping system is not well understood. It is common to predict structural dynamic design parameters due to the change of mass, but to predict the amount of modified mass and the location where the mass is being modified are rarely found in previous literature. Such inverse problem required detail analytical study in order to understand structural modification in proportional damping system. This paper predicts the modified mass and the modified mass location in proportional damping system using sensitivity coefficients and iterative method. The sensitivity coefficients are obtained from the change of eigenvectors due to mass modification. This method is applied to a horizontal beam and three degree of freedoms system. To validate the predicted changing mass and its location, the obtained results are compared to the reanalysis result which shows good agreement.

• 대한기계학회논문집
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• 제10권5호
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• pp.611-617
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• 1986

본 연구에서는 일반 관성행렬 방법을 이용하여 일반적인 다관절 링크 로봇 매 니퓰레이터의 구동 토오크를 구하고 작업 영역 내에서 두 점 사이를 이동할 때 걸리는 구동 토오크를 최소화하는 최적 조인트 운동에 대한 해를 Rayleigh-Ritz의 방법으로 얻도록 시도하였다.

• Journal of Magnetics
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• 제22권2호
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• pp.196-202
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• 2017

The occurrence of ferroresonance in electrical systems including nonlinear inductors such as transformers will bring a lot of malicious damages. The intense ferromagnetic saturation of the iron core is the most influential factor in ferroresonance that makes nonsinusoidal current and voltage. So the nonlinear behavior modeling of the magnetic core is the most important challenge in the study of ferroresonance. In this paper, the ferroresonance phenomenon is investigated in a single phase transformer using the finite element method and considering the hysteresis loop. Jiles-Atherton (JA) inverse vector model is used for modeling the hysteresis loop, which provides the accurate nonlinear model of the transformer core. The steady-state analysis of ferroresonance is done while considering different capacitors in series with the no-load transformer. The accurate results from copper losses and iron losses are extracted as the most important specifications of transformers. The validity of the simulation results is confirmed by the corresponding experimental measurements.