• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.5
• /
• pp.90-97
• /
• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2006.11a
• /
• pp.135-138
• /
• 2006

We developed an engine system design program by balancing the pressure-mass-power relation which can be acquired from each component's specification. In gas generator type open-cycle rocket engine system it is possible to distinguish the variables into two categories, which are input variables and requirement variables. We define 11 design variables corresponding to the 11 balance equations as functions of pressure, mass and power of target engine system. We solved these equations by Newton method. As an example we designed gas generator cycle engine system and finally we could conclude that this developed program is well suited to the engine system design.

• Proceeding of EDISON Challenge
• /
• 2017.03a
• /
• pp.270-281
• /
• 2017

In this paper, a vibratory disturbance to the rotor system generated by gyroscopic precession through helicopter rotor is examined. Also, active vibration reduction method is designed and simulated by designing feedback controller. For this purpose, structural analysis is carried out using EDISON's geometric exact beam program which can analyze the rotor with the cantilever condition. And the aeroelastic analysis is performed by coupling it with the simple aerodynamic model. In order to obtain the real-time structural response, the EDISON program analysis results were modeled by nonlinear equations and the Newton-Raphson method was used for the trim analysis.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.17 no.3
• /
• pp.257-264
• /
• 1999

The lens distortions were corrected directly using the high-order polynomial which was offered in camera calibration data for the forward transformation and the root of Newton-Raphson's $2\times{2}$ nonlinear system for the backward transformation. The 0.04~0.08 pixels increase in accuracy was indicated through the use of direct correction of lens distortions instead of least square methods of commercial software. The least square adjustment method of high-order polynomial requires many control points which has a same weight. But this suggested method which is unnecessary to determine control points was developed and applied. The algorithm showed improved efficacy.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.11a
• /
• pp.366-370
• /
• 2008

Mode analysis is very important for the development of liquid rocket engine in various applications. We developed a mode analysis program for the gas-generator cycle liquid rocket engine by proposing 13 independent equations with 13 independent variables which can be solved by Newton method. As an example we calculated the change of engine operating mode according to the control valve's loss coefficient change located in the gas-generator oxidizer supply line. And we concluded that this program can give basic idea for the mode analysis of gas-generator cycle liquid rocket engine.

• Journal of information and communication convergence engineering
• /
• v.8 no.3
• /
• pp.312-316
• /
• 2010

Conformal mapping has been a familiar tool of science and engineering for generations. The methods of numerical mapping are usually classified into those which construct the map from standard domain such as the unit disk onto the 'problem domain', and those which construct the map in the reverse direction. We treat numerical conformal mapping from the unit disk onto the Jordan regions as the problem domain in this paper. The traditional standard methods of this type are based on Theodorsen integral equation. Wegmann's method is well known as a Newton-like efficient one for solving Theodorsen equation. An improved method for convergence by applying low frequency pass filter to the Wegmann's method was proposed. In this paper we propose an effective algorithm for numerical conformal mapping based on the improved method. This algorithm is able to determine the discrete numbers and initial values automatically in accordance with the given region and the required accuracy. This results come from analyzing the shape of given domain as seen in the Fourier Transform.

• Journal of KSNVE
• /
• v.6 no.2
• /
• pp.233-244
• /
• 1996

In this paper chaotic mothions of a straight pipe conveying oscillatory flow and being subjected to external forces such as earthquake are theoretically investigated. The nonlinear partial differential equation of motion is derived by Newton's method. In this equation, the nonlinear curvature of the pipe and the thermal expansion effects are contained. The nonlinear ordinary differential equation transformed from that partial differential equation is a type of Hill's equations, which have the parametric and external exciation term. This original system is transfered to the averaged system by the averaging theory. Bifurcation curves of chaotic motion of the piping system are obtained in the general case of the frequency ratio, n by applying Melnikov's method. Numerical simulations are performed to demonstrate theorectical results and show strange attactors of the chaotic motion.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.3 no.5
• /
• pp.10-16
• /
• 1995

In this study, the optimum design is carried out upon the crankshaft of in-line 6-cylinder internal combustion diesel engine with the mechanical analysis for the layout design, which is standard calculation whose process contains quadratic curve fitting method and quasi newton method about cost function, design variables and constraint conditions, Without finite element analysis, this process in wich mechanical analysis is performed upon the most critical part in crankshaft gives necessary and satisfied output in layout design and saves time and cost in developing a new diesel engine. In this study, also, the 3-dimensional finite element method is used in confirming the standard calculation for the optimization of crankshaft and the shape optimization in crankweb is obtained.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.5
• /
• pp.57-68
• /
• 1995

A general procedure for the numerical solution of coupled, nonlinear, differential two-point boundary-value problems, solutions of which are crucial to the controller design, has been developed and demonstrated. A fixed-end-points, free-terminal-time, optimal-control problem, which is derived from Pontryagin's Maximum Principle, is solved by an extension of Davidenko's method, a differential form of Newton's method, for algebraic root finding. By a discretization process like finite differences, the differential equations are converted to a nonlinear algebraic system. Davidenko's method reconverts this into a pseudo-time-dependent set of implicitly coupled ODEs suitable for solution by modern, high-performance solvers. Another important advantage of Davidenko's method related to the time-optimal problem is that the terminal time can be computed by treating this unkown as an additional variable and sup- plying the Hamiltonian at the terminal time as an additional equation. Davidenko's method uas used to produce optimal trajectories of a single-degree-of-freedom problem. This numerical method provides switching times for open-loop control, minimized terminal time and optimal input torque sequences. This numerical technique could easily be adapted to the multi-point boundary-value problems.

• Communications for Statistical Applications and Methods
• /
• v.13 no.2
• /
• pp.429-440
• /
• 2006

In statistical computing, it is often for researchers to need the distribution of a weighted sum of noncentral chi-square variables. In this case, it is very limited to know its exact distribution. There are many works to contribute to this topic, e.g. Imhof (1961) and Solomon-Stephens (1977). Imhof's method gives good approximation to the true distribution, but it is not easy to apply even though we consider the development of computer technology Solomon-Stephens's three moment chi-square approximation is relatively easy and accurate to apply. However, they skipped many details, and their simulation is limited to a weighed sum of central chi-square random variables. This paper gives details on Solomon-Stephens's method. We also extend their simulation to the weighted sum of non-central chi-square distribution. We evaluated approximated powers for homogeneous test and compared them with the true powers. Solomon-Stephens's method shows very good approximation for the case.