• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2719-2724
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2546-2550
• /
• 2003

We propose a new method of robot manipulator modeling. Different from existing modelers, our modeler provides a convenient robot modeling configured from modules from module library or module modeling. In addition, a way of using D-H parameters to configure a robot is proposed. These additional functions of robot modeling can be a powerful and flexible tool for various needs of robot modeling. We show an example of modeling with our approach.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1999.10a
• /
• pp.378-386
• /
• 1999

The integrated system for the structural analysis of space frame is made up 4 modules ; pre-process module, structural analysis module, optimum member design module and post-process module. Re-process module of these 4 modules involves data input module and structure modeling module. This study is to develope an efficient modeling program as a basic for development of pre-process module. This modeling program generates geometric information of space frame and performs the input fie form for structure analysis only by input general data. User can mode1 space frame efficiently within shut time by using this program.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.57 no.11
• /
• pp.1988-1993
• /
• 2008

Photovoltaic (PV) modules operate over a large range of conditions but manufacturer's information is not sufficient to determine their overall performance. Designers need a reliable tool to predict energy production from a photovoltaic module under all conditions in order to make a sound decision. The modeling method of photovoltaic (PV) module are useful to perform detailed analysis of PV system performance for changing meteorological conditions, verify actual rated power of PV system sizing and determine the optimal design of PV system and components. This paper indicates a modeling approach of PV module performance in terms of meteorological conditions and identifies validity of PV modules modeling by comparing measured with simulated value.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.23 no.1
• /
• pp.49-55
• /
• 2015

This paper deals with dynamic modeling and controller design of a future Korean lunar module planned to be launched 2020's in Korea. For dynamic modeling of the lunar module, we first assume the lunar module as a rigid body. And we derive equations of motion for the lunar module by considering allocation of main thrusters and reaction thrusters. With the equation of motion, we design the controller based on the quaternion. A Pulse Width Pulse Frequency modulator(PWPFM) is selected for generating on/off signal. Finally, we construct a 2-phase descent mode including initial guidance mode, terminal guidance mode. The MATLAB simulation is performed for evaluating the descent ability and final landing velocity. The dynamic modeling and descent simulation of the lunar module in this paper could be applied for developing the future work of the Korean lunar exploration program.

• Journal of Korean Society of Steel Construction
• /
• v.22 no.1
• /
• pp.99-108
• /
• 2010

This paper presents the results of a study that aimed to develop a module for auto connection modeling that can be applied to the structural details design and modeling phase. It was established that the steel connection library database from the structural analysis resulted from the consideration of the input parameters of the 3D modeling program and the guidelines for Korean standard steel connections. The module for the auto connection modeling in steel structures was developed by linking it with the established library database through the use of the OpenAPI software to prove that the developed module carried out the modeling of the six story (steel structure) office building. The productivity and efficiency of the module introduction was verified by comparing the conventional process and the proposed process.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.05a
• /
• pp.753-756
• /
• 2000

The accumulated know-how and trial-and-error procedures are known as the best ways to determine blank shape and dimensions. One of the most important steps to determine the blank shape and dimensions in deep drawing process is to calculate the surface area of the product. In general, the surface area of products is calculated by mathematical or 3-D modeling methods. A blank design system is constructed for elliptical deep drawing products to recognize the geometry of the product in the long side and short side by drafting in another two layers on AutoCAD software. This system consists of input geometry recognition module, 3-D modeling module and blank design module, respectively. Blank dimension of three types is determined by the same area, which was acquired in 3-D modeling module. The suitability of this system is verified by applying to a real deep drawing product.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.503-504
• /
• 2009

• Journal of Gifted/Talented Education
• /
• v.19 no.1
• /
• pp.187-205
• /
• 2009

The purpose of this study was to investigate the perception of science high school students for modeling module that contain scientists' thinking process. Modeling modules about 'gas diffusion', 'ion conductivity' and 'ion mobility' were applied to science high school students. Interview, lab report, and dialogue were analyzed to comprehend features of modeling module. Students who performed modeling modules perceived that modeling modules were appropriate to experience scientists' research process. Modeling modules were kind of activity to raise 'muscle of thinking', to be needed 'new views' and 'various representations', and to contain 'designing laboratory process'. Therefore, the development of various modeling modules is needed in the near future.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1652-1657
• /
• 2007

Designer must cope with frequent changes in geometric information of automobile suspension module in the early stage of the design process. The authors developed the PSG(Parametric Set Generator) to create parametric models and to change geometric information concerning the lower arm, which is one of the important parts of the automobile suspension module. CAD models provided from the PSG can be utilized to assess fatigue durability via the FE modeling support system. This system provides easy and fast FE-modeling for a static and durability analysis of the lower arm. The PSG and the FE modeling support system are integrated using the e-engineering framework based on the JADE platform. In this study, a durability analysis as a case study for the lower arm manufactured at H company is performed, and the efficiency obtained is discussed.