• Journal for History of Mathematics
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• v.32 no.1
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• pp.17-25
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• 2019

This essay elucidates the way the geometries of space-time theories explain material bodies' motions. A conventional attempt to interpret the way that space-time geometry explains is to consider the geometrical structure of space-time as involving a causally efficient entity that directs material bodies to follow their trajectories corresponding to the laws of motion. Newtonian substantival space is interpreted as an entity that acts but is not acted on by the motions of material bodies. And Einstein's curved space-time is interpreted as an entity that causes the motions of bodies. This essay argues against this line of thought and provides an alternative understanding of the way space-time geometry explain the laws of motion. The workings of the way that Newton's flat and Einstein's curved space-time explains the law of motion is such that space-time geometry encodes the principle of inertia which specifies straight lines of moving bodies.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.466-471
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• 1994

To make a dynamic system a given desired motion trajectory, a new feedback error learning scheme is proposed which is based on the repeatability of dynamic system motion. This method is composed of feedforward and feedback control laws. A benefit of this control scheme is that the input pattern that generates the desired motion can be formed without estimating the physical parameters of system dynamics. The numerical simulations show the good performance of the proposed scheme

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• Structural Engineering and Mechanics
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• v.42 no.6
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• pp.783-797
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• 2012

A new hybrid meta-heuristic optimization algorithm is presented for design of structures. The algorithm is based on the concepts of the charged system search (CSS) and the particle swarm optimization (PSO) algorithms. The CSS is inspired by the Coulomb and Gauss's laws of electrostatics in physics, the governing laws of motion from the Newtonian mechanics, and the PSO is based on the swarm intelligence and utilizes the information of the best fitness historically achieved by the particles (local best) and by the best among all the particles (global best). In the new hybrid algorithm, each agent is affected by local and global best positions stored in the charged memory considering the governing laws of electrical physics. Three different types of structures are optimized as the numerical examples with the new algorithm. Comparison of the results of the hybrid algorithm with those of other meta-heuristic algorithms proves the robustness of the new algorithm.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.2
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• pp.1-12
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• 2002

This paper considers the robust and optimal three-axis attitude stabilization of rigid spacecraft with inertia uncertainties. The attitude motion of rigid spacecraft described in terms of either the Cayley-Rodrigues parameters or the Modified Rodrigues parameters is considered. A class of robust nonlinear control laws with relaxed feedback gain structures is proposed for attitude stabilization of rigid spacecraft with inertia uncertainties. Global asymptotic stability of the proposed control laws is shown by using the LaSalle Invariance Principle. The optimality properties of the proposed control laws are also investigated by using the Hamilton-Jacobi theory. A numerical example is given to illustrate the theoretical results presented in this paper.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.805-808
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• 1991

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.

• The Pure and Applied Mathematics
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• v.3 no.1
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• pp.83-94
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• 1996

Classical mechanics begins with some variants of Newton's laws. Lagrangian mechanics describes motion of a mechanical system in the configuration space which is a differential manifold defined by holonomic constraints. For a conservative system, the equations of motion are derived from the Lagrangian function on Hamilton's variational principle as a system of the second order differential equations. Thus, for conservative systems, Newtonian mechanics is a particular case of Lagrangian mechanics.(omitted)

• Earthquakes and Structures
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• v.22 no.1
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• pp.53-64
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• 2022

This study proposes an intelligent semi-active isolation system combining a variable-stiffness control device and ground motion characteristic prediction. To determine the optimal control parameter in real-time, a genetic algorithm (GA)-fuzzy control law was developed in this study. Data on various types of ground motions were collected, and the ground motion characteristics were quantified to derive a near-fault (NF) characteristic ratio by employing an on-site earthquake early warning system. On the basis of the peak ground acceleration (PGA) and the derived NF ratio, a fuzzy inference system (FIS) was developed. The control parameters were optimized using a GA. To support continuity under near-fault and far-field ground motions, the optimal control parameter was linked with the predicted PGA and NF ratio through the FIS. The GA-fuzzy law was then compared with other control laws to verify its effectiveness. The results revealed that the GA-fuzzy control law could reliably predict different ground motion characteristics for real-time control because of the high sensitivity of its control parameter to the ground motion characteristics. Even under near-fault and far-field ground motions, the GA-fuzzy control law outperformed the FPEEA control law in terms of controlling the isolation layer displacement and the superstructure acceleration.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.