• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.442-443
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• 2008

This paper describes modeling using the EMTP/ATPDraw for reclosing analysis in 154kV combined transmission systems, and analyzes switching overvoltage. Current transformer established at lead-in area and lead-out area in transmission line and circuit breaker were modeled using TACS in the EMTP/ATPDraw. And also MODELS was constructed by signal processing of the operating reclosing. The simulation was carried out the switching overvoltage according to the length of overhead and underground transmission line, overvoltage between sheath and earth, and voltage between joint boxes.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.272-279
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• 2002

A common task in assembly modeling is the determination of the position and orientation of a set of components by solving the spatial relationships between them. Assembly models could be constructed at various levels of abstraction. They could be classified into component or geometry-level assembly models. The geometry-level assembly design approach using mating constraints such as against and fits is widely used in the commercial modelers, but it may be very tedious in some cases fur designer. In this paper, we propose a new method to construct an assembly model at the component-level by extracting joint mating features from the kinematics constraints specified between components. The assembly model constructed using the proposed method includes hierarchical and relational assembly models, component/sub-assembly positions and degrees of freedom information. The proposed method is more intuitive and natural way of assembly design and it guarantees the topological robustness of assembly modification such as component replacement and modification.

• Journal of Korea Multimedia Society
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• v.9 no.5
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• pp.554-563
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• 2006

We present a linear-time algorithm for treating collision response of articulated rigid bodies in physically based modeling. By utilizing the topology of articulated rigid bodies and the property of linear equations, our method can solve in linear time the system of linear equations that is crucial for treating collision response. We also present several new joint condition equations for articulated rigid bodies composed of various joints.

• Advances in concrete construction
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• v.15 no.6
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• pp.391-404
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• 2023

In this study, the modeling of the transverse connection of fully precast steel-UHPC (Ultra-High-Performance Concrete) lightweight composite bridges were conducted. The transverse connection between precast components plays a critical role in the overall performance and safety of the bridge. To achieve an accurate and reliable simulation of the interface behavior, the cohesive model in ABAQUS was employed, considering both bending-tension and compression-shear behaviors. The parameters of the cohesive model are obtained through interface bending and oblique shear tests on UHPC samples with different surface roughness. By validating the numerical simulation against actual joint tests, the effectiveness and accuracy of the proposed model in capturing the interface behavior of the fully precast steel-UHPC lightweight composite bridge were demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.405-408
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• 1996

Several papers have already been reported on the flexible manipulator with constant arm length. Some of industrial manipulators, however, have sliding joints. It means that the length of their arm or link varies with time. This paper discusses the trajectory contro lof such a manipulator model, and shows some of the experimental results.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.805-808
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• 1991

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.997-998
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• 2010

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2000.04a
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• pp.328-329
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• 2000

A viscosity resistance control method of the intelligent prosthetic legs is studied using an optimal control theory. The simulated results suggests that it is important to control the viscosity of the prosthetic knee joint in one period of walking to improve the usability. In this paper we describe modeling of the thigh prosthetic legs, optimal control and simulated results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.