• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.38-44
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• 1998

The modified maximum likelihood estimation method is used to estimate the nondimensional aerodynamic derivatives of a single turbo-prop aircraft at a specified flight condition for the best deduction of the dynamic characteristics. In wind axes the six degree of freedom equations are algebraically linearized so that the linear state equation contains aerodynamic derivatives in a state-space form and is used in the maximum likelihood method. The simulated data added with the measurement noise is used as a flight test data which is necessary to the estimation of nondimensional aerodynamic derivatives. It is obtained by implementing the 6-DOF nonlinear flight simulation. In the flight simulation, the effects of several control input types, control deflection amplitudes, and the turbulence intensities on the statistical convergence criteria are also examined and quantitative analysis of the results is discussed.

• 소성∙가공
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• 제4권3호
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• pp.222-232
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• 1995

The planar anisotripic FEM analysis for predicting earing profiles and draw-in amounts in the deep-drawing process is introduced. An implicit, incremental, updated Lagrangian formulation with a rigid-viscoplastic constitutive equation is employed. Contact and friction are considered through the mesh-based unit vector and normal contact pressure. The consistent full set of governing relations, which is comprising euilbrium and geometric constraint equations, is appropriately linearized. Barlat's strain-rate potential is employed, whose in-plane anisotropic properties are taken into account with anisotropic coefficients and potential parameters. The linear triangular membrane elements are used for depicting the formed sheet. In the numerical simulations of deep drawing processes of a flat-top cylindrical cup for 2090-T3 aluminum alloy sheet show good agreement with experiments, although some discrepancies were observed in the directional trend of cup height and thickness strains.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1994년도 춘계학술대회 논문집
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• pp.118-128
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• 1994

The planar anisotropic FEM analysis for predicting the earing profiles and draw-in amounts in the deep-drawing processes is introduced. An implicit, incremental, updated Lagrangian formulation with a rigid-viscoplastic constitutive equation is employed. Contact and friction are considered through the mesh-based unit vectors and the normal contact pressure. the consistent full set of governing relations, comprising equilibrium and geometric constraint equations, is appropriately linearized. Barlat's strain-rate potential is employed, whose in-plane anisotropic properties are taken into account with anisotropic coefficients and potential parameter. The linear triangular membrane elements are used for depicting the formed sheet. with the numerical simulations of deep drawing processes of flat-top cylindrical cup for the 2090-T3 aluminum effects on the earing behavior are examined. Earing predictions made for the 2090-T3 aluminum alloy sheet show good agreement with experiments, although some discrepancies were observed in the directional trend of cup height and thickness strains.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.178-184
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• 2002

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. In order to reduce alignment errors induced by ship body flexure, a linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to the dominant y axis component and defining the flexure state of random constant type. And then a robust state estimation scheme is introduced to account for modeling uncertainty of the flexure. By interpreting the simulation results and comparing with the velocity and DCM(Direction Cosine Matrix) partial matching method, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• 한국정보통신학회논문지
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• 제7권7호
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• pp.1514-1519
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• 2003

본 논문은 Custom Power의 입력 전압 Sag 보상을 위해 사용되는 3상 PWM Boost AC-AC 컨버터의 정적특성 및 동적 특성의 모델링 및 해석을 다룬다. 특히 회로 DQ 변환 기법을 사용하여 기본파 영역에서 시스템의 특성을 모두 포함하는 등가회로를 구하고, 전압이득과 입력 역률에 대한 해석적인 결과를 도출한다. 또한, 제어의 관점에서 유용한 일정한 동작 점 하에서의 선형화 된 상태방정식을 구한다. 끝으로, PSIM 시뮬레이션을 통하여 제안된 등가회로 모델링과 해석이 타당함을 확인하였다.

• Journal of information and communication convergence engineering
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• 제17권4호
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• pp.255-260
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• 2019

A pendubot is a representative example of an underactuated system that has fewer actuators than the degree of freedom of the system. In this study, the characteristics of the pendubot are first reviewed; each part is then designed using Solidworks by dividing the pendubot into three parts: the base frame, first link frame, and second link frame. These three parts are then imported into the Simulink environment via a STEP file format, which is the standard protocol used in data exchange between CAD applications. A 3D model of the pendubot is then constructed using Simscape, and the usefulness of the 3D model is validated by a comparison with a dynamic equation derived using the Lagrangian formulation. A linearized model around an upright equilibrium position is finally obtained, and a sliding mode controller is designed based on the linear quadratic regulator. Simulation results showed that the designed controller effectively maintained upright balance of the pendubot in the presence of disturbance.

• 한국자동차공학회논문집
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• 제6권6호
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• pp.88-97
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• 1998

Compliance elements such as bushings of a suspension system play a crucial role in determining the ride and handling characteristics of the vehicle. In this paper, a general procedure is proposed for the optimum design of compliance elements to meet various design targets. Based on the assumption that the displacements of elastokinematic behavior of a suspension system under external forces are very small, linearized elastokinematic equations in terms of infinitesimal displacements and joint reaction forces are derived. Directly differentiating the linear elastokinematic equations with respect to design variables associated with bushing stiffness, sensitivity equations are obtained. The design process for determining the bushing stiffness using sensitivity analysis and optimization technique is demonstrated.

• 한국정밀공학회지
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• 제12권6호
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• pp.145-151
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• 1995

The first-order Taylor series expansion can be evaluated analytically from the formulated symbolic nonlinear dynamic equations. A closed-form linear dynamic euation is derived about a nominal trajectory. The state space representation of the linearized dynamics can be derived easily from the closed-form linear dynamic equations. But manual symbolic expansion of dynamic equations and linearization is tedious, time-consuming and error-prone. So it is desirable to manipulate the procedures using a computer. In this paper, the analytic linearization is performed using the symbolic language MATHEMATICA. Two examples are given to illustrate the approach anbd to compare nonlinear model with linear model.

• 한국정밀공학회지
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• 제14권9호
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• pp.124-129
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• 1997

The purpose of this study is to predict the stability and frequency response of multipurpose vehicle. The vehicle model has seven degrees of freedom. The motion equations are derived by using Lagrangian equation and linearized. The positions of eigenvalues of model which are dominated by lateral velocity, yaw rate, roll rate of sprung mass are used to predict the stability of motion. The resonse of sprung mass to steering wheel is simulated in time domain. It is predicted that the roll response of sprung mass would rather be improved by modifying the position of eigenvalues. The responses of sprung mass to steering wheel are also simulated in frequency domain. The magnitude and phase plots of gains are evaluated in driver's steering input frequency range.

• Bulletin of the Korean Chemical Society
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• 제33권3호
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• pp.933-940
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• 2012

Recently, it has been shown that quantum coherence appears in energy transfers of various photosynthetic lightharvesting complexes at from cryogenic to even room temperatures. Because the photosynthetic systems are inherently complex, these findings have subsequently interested many researchers in the field of both experiment and theory. From the theoretical part, simplified dynamics or semiclassical approaches have been widely used. In these approaches, the quantum-classical Liouville equation (QCLE) is the fundamental starting point. Toward the semiclassical scheme, approximations are needed to simplify the equations of motion of various degrees of freedom. Here, we have adopted the Poisson bracket mapping equation (PBME) as an approximate form of QCLE and applied it to find the time evolution of the excitation in a photosynthetic complex from marine algae. The benefit of using PBME is its similarity to conventional Hamiltonian dynamics. Through this, we confirmed the coherent population transfer behaviors in short time domain as previously reported with a more accurate but more time-consuming iterative linearized density matrix approach. However, we find that the site populations do not behave according to the Boltzmann law in the long time limit. We also test the effect of adding spurious high frequency vibrations to the spectral density of the bath, and find that their existence does not alter the dynamics to any significant extent as long as the associated reorganization energy is changed not too drastically. This suggests that adopting classical trajectory based ensembles in semiclassical simulations should not influence the coherence dynamics in any practical manner, even though the classical trajectories often yield spurious high frequency vibrational features in the spectral density.