• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.1
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• pp.61-83
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• 2009

This study developed a variable demand traffic assignment model by stable dynamics. Stable dynamics, suggested by Nesterov and do Palma[19], is a new model which describes and provides a stable state of congestion in urban transportation networks. In comparison with the user equilibrium model, which is based on the arc travel time function in analyzing transportation networks, stable dynamics requires few parameters and is coincident with intuitions and observations on congestion. It is therefore expected to be a useful analysis tool for transportation planners. In this study, we generalize the stable dynamics into the model with variable demands. We suggest a three stage optimization model. In the first stage, we introduce critical travel times and dummy links and determine variable demands and link flows by applying an optimization problem to an extended network with the dummy links. Then we determine link travel times and path flows in the following stages. We present a numerical example of the application of the model to a given network.

• Journal of the Korean Operations Research and Management Science Society
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• v.32 no.3
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• pp.63-80
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• 2007

This study is a generalization of 'stable dynamics' recently suggested by Nesterov and de Palma[29]. Stable dynamics is a new model which describes and provides a stable state of congestion in urban transportation networks. In comparison with user equilibrium model that is common in analyzing transportation networks, stable dynamics requires few parameters and is coincident with intuitions and observations on the congestion. Therefore it is expected to be an useful analysis tool for transportation planners. An equilibrium in stable dynamics needs only maximum flow in each arc and Wardrop[33] Principle. In this study, we generalize the stable dynamics into the model with multiple traffic classes. We classify the traffic into the types of vehicle such as cars, buses and trucks. Driving behaviors classified by age, sex and income-level can also be classes. We develop an equilibrium with multiple traffic classes. We can find the equilibrium by solving the well-known network problem, multicommodity minimum cost network flow problem.

• Journal of the Korean Operations Research and Management Science Society
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• v.32 no.4
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• pp.19-35
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• 2007

This study is for detecting the Braess Paradox by stable dynamics in general transportation networks. Stable dynamics, suggested by Nesterov and de Palma[18], is a new model which describes and provides a stable state of congestion in urban transportation networks. In comparison with user equilibrium model based on link latency function in analyzing transportation networks, stable dynamics requires few parameters and is coincident with intuitions and observations on the congestion. Therefore it is expected to be an useful analysis tool for transportation planners. The phenomenon that increasing capacity of a network, for example creating new links, may decrease its performance is called Braess Paradox. It has been studied intensively under user equilibrium model with link latency function since Braess[5] demonstrated a paradoxical example. However it is an open problem to detect the Braess Paradox under stable dynamics. In this study, we suggest a method to detect the Paradox in general networks under stable dynamics. In our model, we decide whether Braess Paradox will occur in a given network. We also find Braess links or Braess crosses if a network permits the paradox. We also show an example how to apply it in a network.

• Bulletin of the Korean Chemical Society
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• v.21 no.4
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• pp.419-424
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• 2000

In this study we have investigated the determination of proper time step in molecular dynamics simulation.Since the molecular dynamics is mathematically related to nonlinear dynamics, the analysis of eigenvalues isused to explain the relationship between the time step and dynamics. The tracings of H2 and CO2 molecular dynamics simulation agrees very well with the analytical solutions. For H2, the time step less than 1.823 fs pro-vides stable dynamics. ForCO2, 3.808 fs might be the maximum time step for proper molecular dynamics. Al-though this results were derived for most simple cases of hydrogen and carbon dioxide, we could quantitatively explain why improperly large time step destroyed the molecular dynamics. From this study we could set the guide line of the proper time step for stable dynamics simulation in molecular modeling software.

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.4
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• pp.123-138
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• 2009

This study examined the first- and second-best pricing by stable dynamics in congested transportation networks. Stable dynamics, suggested by Nesterov and de Palma (2003), is a new model which describes and provides a stable state of congestion in urban transportation networks. The first-best pricing in user equilibrium models introduces user-equilibrium in the system-equilibrium by tolling the difference between the marginal social cost and the marginal private cost on each link. Nevertheless, the second-best pricing, which levies the toll on some, but not all, links, is relevant from the practical point of view. In comparison with the user equilibrium model, the stable dynamic model provides a solution equivalent to system-equilibrium if it is focused on link flows. Therefore the toll interval on each link, which keeps up the system-equilibrium, is more meaningful than the first-best pricing. In addition, the second-best pricing in stable dynamic models is the same as the first-best pricing since the toll interval is separately given by each link. As an effect of congestion pricing in stable dynamic models, we can remove the inefficiency of the network with inefficient Braess links by levying a toll on the Braess link. We present a numerical example applied to the network with 6 nodes and 9 links, including 2 Braess links.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.35-43
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• 2008

The control of underactuated mechanical system is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A genetic algorithm (GA)based stable control approach is proposed for the class of under actuated mechanical systems. The Lyapunov stability theory and system properties are utilized to guarantee the system stability to its equilibrium. The real-valued GA is used to adjust the controller parameters to improve the system performance. This approach is applied to the underactuated double-pendulum-type overhead crane and the simulation results illustrate the complex system dynamics and the validity of the proposed control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1034-1039
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• 1992

Time Delay Controller(TDC) is a model following controller which uses input and output values and state variables to estimate additional quantity of dynamics due to external disturbances and/or model parameters variation at some past instant. TDC is very robust against parametric uncertainty whil it is not robust against unmodeled dynamics even showing instability. To solve this problem a stability anlysis is performed and a compensation technique using reduced order observer, Anti-Filtering Compensator(AFC), is proposed for a case in which the high order kinown dynamics is deliberately ignored. If the ignored dynamics causes instability of the TDC control system, AFC is shown to be indispensible fot a stable implementation of TDC.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.3
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• pp.13-18
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• 2008

During the launching phase, a launcher is vibrated by launching forces and as a result, the vibrating launcher affects the behavior of the missile. One of the important performances of the launcher is that the launched missile should be in a stable condition at the launching stage. In this paper, the launcher vibration at the launching phase is investigated in order to secure the stable flight of the missile. Using the finite element method, launching dynamics is investigated to analyze the behaviors of the launcher and missile considering the effect of the launcher vibration. In addition, performance of consecutive launching and launching dynamics of the launcher which launches missiles consecutively are studied for the various conditions after first launch.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.255-260
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• 1988

A robust adaptive control method for a stable nonminimum phase SISO system with unmodelled dynamics is proposed. The robust parameter estimation method of the system with bounded output noise and unmodelled dynamics is employed and a parallel structure is proposed to improve the robustness of adaptive control system. The local stability of the proposed system is shown. Computer simulations are done in order to compare the performance of the proposed structure with the basic structure on various circumstance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.311-314
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• 1995

Biped locomotion can be simply modeled as a linear inverted pendulum mode. This model considers only the CG (center of gravity) of the entire system. But in real biped robot systems, the free-leg motion dynamics is not negligible. So if its dynamics is not considered in designing the reference CG motion, it is badly influence to the ZMP(zero moment point) position of the biped robot walking in the sagittal plane. Therefore, we modeled the biped locomotion similar to the linear inverted pendulum mode but considered the predetermined free-leg dynamics. To verify that the proposed biped locomotion is more stable than the linear inverted pendulum mode, we constructed a biped robot simulator and designed a serco controller to track both the reference motion of the free leg and the reference motion of CG of the biped robot using the computed torque control low. And through simulations, we verified that the proposed walking is better in stability than the one based on the linear inverted pendulum mode.