• Structural Engineering and Mechanics
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• v.64 no.2
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• pp.271-278
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• 2017

In this paper, we propose a new conjugate gradient method which possesses the global convergence and apply it to solve inverse problems of the dynamic loads identification. Moreover, we strictly prove the stability and convergence of the proposed method. Two engineering numerical examples are presented to demonstrate the effectiveness and speediness of the present method which is superior to the Landweber iteration method. The results of numerical simulations indicate that the proposed method is stable and effective in solving the multi-source dynamic loads identification problems of practical engineering.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.75-80
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• 2004

Vehicle structures are composed of many substructure connected to one another by various types of mechanical joints. In vehicle engineering it is important to study these connected structures under various dynamic forces for the evaluations of fatigue life and stress concentration exactly. It is difficult to obtain the accurate load history of specified positions because of the errors such as modeling, measurement and etc. In the beginning of design exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic force determination is developed by the combination of the principal stresses of F. E. Analysis and experiment. Least square pseudo inverse matrix is adopted to obtain in inverse matrix of analyzed stresses matrix. The error minimization method utilizes the inaccurate measured error and the shifting error that the whole data is stiffed over real data. The least square criterion is adopted to avoid these non. Finally, to verify the proposed procedure, a bus is analyzed. This measurement and prediction technology can be extended to the structural modification of any geometric shape in complex structure.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.1
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• pp.1-8
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• 2008

A dynamic model for II-SEPIC(Isolated Inverse-SEPIC) is developed based on the state-space averaging method and its control characteristics are investigated in this paper. Equations for circuit design of II-SEPIC are derived through steady state analysis and the resulted circuit parameters are used in the consequent simulation and experiment works. A structure of control system is devised to obtain better control performance. In order to verify validity and effectiveness of the design equations and dynamic model derived, dynamic control responses of II-SEPIC system against line and load variation are illustrated in both simulation and experiment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.120-126
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• 2004

This study proposed the analysis of mass position detection due to the change of the mass and strifeless of structure by using the original and modified dynamic characteristics. The method is applied to examples of the cantilevers beam and the 3 degrees of freedom system by modifying the mass. The predicted detection of the mass positions and magnitudes are in good agrement with the present study from the structural reanalysis using the modified mass.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.13 no.4
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• pp.322-331
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• 1988

In this thesis, an active RC filter using high order inverse chebyshev function is designed and the design method for cascading blocks with low sensitivity and maximum dynamic range is discussed. To have maximum dynamic range, we have proposed the simple algorithm with a pole-zero pairing, the cascading sequence by flatness matrix and optimum gain distribution for a given transfer function. And 2nd order Block is designed with negative feedback to improve the sensitivity problem which had a defect at active RC circuits. Using the suggested method, we have designed the active RC low pass filter of the normalized 7th order inverse chebyshev function, as a results, we have shown that this accord with the given specification.

• Nuclear Engineering and Technology
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• v.55 no.7
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• pp.2642-2649
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• 2023

A real-time unmeasured dynamic response prediction process for the nuclear power plant pressure pipeline is proposed and its performance is tested in the test-loop system (KAERI). The aim of the process is to predict unmeasurable or unreachable dynamic responses such as acceleration, velocity, and displacement by using a limited amount of directly measured physical responses. It is achieved by combining a well-constructed finite element model and robust inverse force identification algorithm. The pressure pipeline system is described by using the displacement-pressure vibro-acoustic formulation to consider fully filled liquid effect inside the pipeline structure. A robust multiphysics modal projection technique is employed for the real-time sensor synchronized prediction. The inverse force identification method is also derived and employed by using Bathe's time integration method to identify the full-field responses of the target system from the modal domain computation. To validate the performance of the proposed process, an experimental test is extensively performed on the nuclear power plant pressure pipeline test-loop under operation conditions. The results show that the proposed identification process could well estimate the unmeasured acceleration in both frequency and time domain faster than 32,768 samples per sec.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.1
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• pp.106-113
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• 2004

Most of mechanical structures are composed of many substructures connected to one another by various types of mechanical joints. In automotive engineering, it is important to study these connected structures under various dynamic forces for the evaluations of fatigue life and stress concentration exactly. In this study, the dynamic response of vehicle structure to external forces is classified an inverse problem involving strains from the experiment and the analysis. The practical dynamic forces are determined by the combination of the analytical and experimental method with analyzed strain by quasi-static finite element analysis under unit force and with measured strain by a strain gage under driving load, respectively. In a stressed body, inter-molecular chemical bonds are failed beyond the certain magnitude. The failure of molecular structure in material is considered as a time process of which rate is determined by mechanical stress. That is, the failure of inter-molecular chemical bonds is the fatigue lift of material. This kinetic concept is expressed as lethargy coefficient. And S-N curve is obtained with the lethargy coefficient from quasi-static tensile test. Equivalent practical dynamic force is obtained from the identification of practical dynamic force for one loading point. Using the practical dynamic force and S-N curve, fatigue life of a window pillar is analyzed with FEM under the identified force by the procedure of above mentioned.