• 제어로봇시스템학회논문지
• /
• 제20권8호
• /
• pp.875-881
• /
• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Bulletin of the Korean Chemical Society
• /
• 제32권12호
• /
• pp.4397-4402
• /
• 2011

The NF-${\kappa}B$ system of transcription factors plays a crucial role in inflammatory diseases, making it an important drug target. We combined quantitative structure activity relationships for predicting the activity of new compounds and quantitative dynamic models for the NF-${\kappa}B$ network with intracellular concentration models. GFA-MLR QSAR analysis was employed to determine the optimal QSAR equation. To validate the predictability of the $IKK{\beta}$ QSAR model for an external set of inhibitors, a set of ordinary differential equations and mass action kinetics were used for modeling the NF-${\kappa}B$ dynamic system. The reaction parameters were obtained from previously reported research. In the IKKb QSAR model, good cross-validated $q^2$ (0.782) and conventional $r^2$ (0.808) values demonstrated the correlation between the descriptors and each of their activities and reliably predicted the $IKK{\beta}$ activities. Using a developed simulation model of the NF-${\kappa}B$ signaling pathway, we demonstrated differences in $I{\kappa}B$ mRNA expression between normal and different inhibitory states. When the inhibition efficiency increased, inhibitor 1 (PS-1145) led to long-term oscillations. The combined computational modeling and NF-${\kappa}B$ dynamic simulations can be used to understand the inhibition mechanisms and thereby result in the design of mechanism-based inhibitors.

• 한국철도학회논문집
• /
• 제13권3호
• /
• pp.245-250
• /
• 2010

본 논문에서는 안정성과 안전성 해석을 통하여 차세대 고속철도(HEMU-400X)의 주행성능을 예측하였다. 차량의 설계단계에서 주행성능을 예측하는 것은 차량의 안전 확보를 위해 매우 중요하다. 안정성 해석을 통하여 차륜의 등가 답면구배에 따른 임계속도를 계산하였다. 임계속도는 UIC518에 근거하여 등가 답면구배 0.15에서 400km/h가 달성 가능함을 보였다. 또한 안전성 해석을 통하여, 동역학 모델의 횡방향과 수직방향의 가속도 값을 시뮬레이션 하였다. 안정성 해석은 UIC518에 근거하여 440km/h의 속도로 30km의 구간을 주행하였다. 그리고 계산된 값들은 모두 UIC518의 최대 허용 가속도 값보다 적게 나타나는 것을 확인하였다.

• 상하수도학회지
• /
• 제23권1호
• /
• pp.15-22
• /
• 2009

This study reports the serial use of a 3-D hydrodynamic model, EFDC-Hydro and a dynamic water quality model WASP7.2 that are maintained by USEPA. The 48 km section of the Geum River downstream between Daechung Dam and Gongju was selected as a sample study site. Topographical information was used to accurately represent morphology of the study site and boundary conditions were derived from governmental databases including WAMIS by Ministry of Land and Ocean and WEIS by Ministry of Environment. EFDC-Hydro was successfully calibrated for observed water level and WASP was calibrated using monthly observed water quality data obtained from the above sources. It was found that the current water quality target of BOD for the Geum River-H point could not be met on monthly basis though every other tributary of the area would meet its own water quality target as assigned in Korean TMDL. This study proposed the new target BOD water quality for the Gabcheon and Mihocheon as 4.3 and 3.6 mg/l, respectively so that the Geum River-H point can meet the target. When Sejong City is constructed, it is estimated that effluent discharge limit of BOD must be less than 4.5 mg/l to meet water quality of the point. This study shows that it is possible to carry out more precise modeling considering both water movement and water kinetics by using EFDC and WASP simultaneously.

• 한국항공우주학회지
• /
• 제50권4호
• /
• pp.287-295
• /
• 2022

저고도 궤적의 장사정포 위협이 대두됨에 따라 이를 방어할 요격 시스템의 개발이 시작될 예정이다. 이러한 장사정포의 공격을 방어하는 문제는 전형적인 동적 무기 표적 할당 문제다. 동적 무기 표적 할당 문제에서는 한 시점에서의 의사결정 결과가 이후 시점의 의사결정 과정에 영향을 주며, 이는 마코브 의사결정 모형의 특징이기도 하다. 장사정포의 공격을 방어하기 위한 의사결정 과정에 허용되는 시간은 공격자와 방어자의 거리를 고려할 때 저고도 궤적의 동시 다발성 발사체에 대한 대응은 수 초 이내에 결정되어야 하나, 짧은 시간 내에 마코브 의사결정 과정으로 최적해를 구하는 것은 불가능하다. 본 논문에서는 장사정포 공격을 방어하는 동적 무기 표적 할당 문제를 마코브 의사결정 문제로 나타내고, 3가지 시나리오를 작성한 후 근사적 동적계획 방법을 적용하여 요격이 가능 시간 안에 해의 도출이 가능한지를 시뮬레이션을 통하여 확인하였다. 도출된 해의 품질을 검증하기 위하여 각 시나리오에 대하여 근사적 동적계획을 적용한 결과와 Shoot-Shoot-Look 방법을 적용한 결과를 비교하였다. 시뮬레이션 결과, 장사정포의 방어 시나리오에 대하여 근사적 동적계획의 결과가 Shoot-Shoot-Look 방법을 이용한 결과보다 우수함을 보였다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2011년도 추계학술대회 논문집
• /
• pp.264-270
• /
• 2011

The goal of this study is a stability evaluation through eigenvalue and rotor dynamics analysis of the vacuum pump. The vacuum pump used is a roots type pump, one of the dry middle vacuum pumps, is necessary at the procedure to produce semiconductor and display. The eigenvalue evaluation is solved by numerical analysis through using Modal test and 2D 3D models. Both the experiment and the analysis result are similar, the analysis result using 2D is more oculate the 3D model comparing with test result. So rotor dynamic evaluation is performed through using 2D model. Rotor dynamic evaluation used the campbell diagram and root locus map which were acquired by complex eigenvalue analysis. And we checked minimum clearance of vacuum pump composition between two rotors through unbalance response analysis. Thus, vacuum pump, the target object of this study, was evaluated to be operated stably.

• Nuclear Engineering and Technology
• /
• 제55권7호
• /
• pp.2642-2649
• /
• 2023

A real-time unmeasured dynamic response prediction process for the nuclear power plant pressure pipeline is proposed and its performance is tested in the test-loop system (KAERI). The aim of the process is to predict unmeasurable or unreachable dynamic responses such as acceleration, velocity, and displacement by using a limited amount of directly measured physical responses. It is achieved by combining a well-constructed finite element model and robust inverse force identification algorithm. The pressure pipeline system is described by using the displacement-pressure vibro-acoustic formulation to consider fully filled liquid effect inside the pipeline structure. A robust multiphysics modal projection technique is employed for the real-time sensor synchronized prediction. The inverse force identification method is also derived and employed by using Bathe's time integration method to identify the full-field responses of the target system from the modal domain computation. To validate the performance of the proposed process, an experimental test is extensively performed on the nuclear power plant pressure pipeline test-loop under operation conditions. The results show that the proposed identification process could well estimate the unmeasured acceleration in both frequency and time domain faster than 32,768 samples per sec.

• International Journal of Control, Automation, and Systems
• /
• 제3권2호
• /
• pp.173-182
• /
• 2005

In this paper, a target tracking algorithm for tracking maneuvering vehicles is presented. The overall algorithm belongs to the category of an interacting multiple-model (IMM) algorithm used to detect multiple targets using fused information from multiple sensors. First, two kinematic models are derived: a constant velocity model for linear motions, and a constant-speed turn model for curvilinear motions. Fpr the constant-speed turn model, a nonlinear information filter is used in place of the extended Kalman filter. Being equivalent to the Kalman filter (KF) algebraically, the information filter is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear information filter. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information sharing principle of the federated information filter are discussed. The performance of the suggested algorithm using a Monte Carlo simulation under the two patterns is evaluated.

• 한국시스템다이내믹스연구
• /
• 제6권1호
• /
• pp.177-192
• /
• 2005

A system dynamics model is developed to investigate policies for the school-age child weights and heights. The model is based upon the system dynamic model of Soonhee lee(2003), the purpose of which was policy analysis for obese control of adult people. Although the purpose and target people are different, the main structure can be applied to in the same way. Besides the carbohydrate, protein, and fat material, the new model covers hormone and heights with new input mechanisms for foods and activities. The simulation results matches well with the average school-age children in Korea with the average inputs data (foods and activities). The model can be used for various purposes such as policy analyses, care plan for obese children, etc.

• 전자공학회논문지SC
• /
• 제46권3호
• /
• pp.52-58
• /
• 2009

칼만 필터는 이동 목표물의 운동 상태 특성이 선형이라고 가정할 경우 비교적 정확하게 표적의 위치를 추정할 수 있는 알고리즘으로 목표물의 운동 상태 특성이 얼마나 정확하게 모형화 되었느냐에 따라 성능이 좌우된다. 표적의 다양성을 고려하지 않고 운동 특성을 일반적으로 모형화 하여 칼만필터(SKF : Simple Kalman filter) 알고리즘을 적용하는 경우 표적이 갑작스런 기동을 하게 되면 칼만필터의 고정된 프로세스 잡음 분산은 기동을 다를 수 없게 되므로 추적 성능은 현저히 저하된다. 본 논문에서는 이러한 문제점을 해결하기 위해 표적의 기동에 따른 프로세스 잡음 분산을 능동적으로 변화시켜 적용할 수 있는 능동형 칼만필터(ABC Active Kalman filter)를 구현하였다. 즉 표적이 가질 수 있는 기동의 범위를 구분하여 설정하고 기동의 정도에 따라 표적을 추적할 수 있는 칼만필터 프로세스 잡음 분산을 구하여 기동 정도에 따른 칼만필터 프로세스 잡음 분산을 오프 라인(off-line)에서 선행 학습시켰다. 선행 학습은 뉴럴네트워크를 이용하여 표적의 기동 상태에 따른 시스템 프로세스 잡음 분산을 인식하도록 하였으며, 그 결과에 따라 레이더가 실제 표적 탐지 및 추적 처리시 칼만필터의 프로세스 잡음 분산을 선택하여 실시간으로 반영할 수 있도록 능동형 칼만필터(AKF : Active Kalman filter)를 구현하고 시뮬레이션을 통해 성능 개선을 입증하였다.