• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.6
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• pp.91-105
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• 1999

Dynamic simulation techniques are developed to analyze the shift characteristics of vehicle powertraisn with automatic transmission. In this study, the mathematical modeling of powertrain components such as engine , clutch system, planetary gear system and road load , is presented for the simulation. The clutch engagement condition, which determines the degree of freedom for the system, is also proposed .By using a detailed nonlinear model of torque converter, it is possibile to accurately analyze the extremely transient state such as the shift. Dynamo-based experiments are carried out to prove the validity of the proposed simulation techniques. Using the developed simulation program, the effects of the dynamic design variables and the control conditions , focused on the shift, are evaluated to improve the driving comforability.

• Journal of the Korean Operations Research and Management Science Society
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• v.28 no.4
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• pp.1-19
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• 2003

This paper studies power and rate control for data users on the forward link of CDMA system with two cells. The QoS for data users is specified by delay and error rate constraints as well as a family of utility functions representing system throughput and fairness among data users. Optimal power and rate allocation problem is mathematically formulated as a nonlinear programming problem, which is to maximize total utility under delay and error rate constraints, and optimal power and rate allocation scheme (OPRAS) is proposed to obtain a good solution in a fast time. Computational experiments show that the proposed scheme OPRAS works very well and increases total utility compared to the separate power and rate allocation scheme (SPARS) which considers each cell individually.

• Smart Structures and Systems
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• v.14 no.5
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• pp.883-900
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• 2014

Shape memory alloys (SMA) can dissipate energy through hysteresis cycles without significant residual deformation. This paper describes the fabrication and testing of copper-based SMA hourglass-shaped plates for use in energy dissipation devices and the development of a numerical model to reproduce the experiments. The plates were tested under cyclic flexural deformations, showing stable hysteresis cycles without strength degradation. A detailed nonlinear numerical model was developed and validated with the experimental data, using as input the constitutive relationship for the material determined from cyclic tests of material coupons under tension loading. The model adequately reproduces the experimental results. The study is focused on the exploitation of SMA in the martensite phase.

• Computers and Concrete
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• v.13 no.3
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• pp.343-359
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• 2014

In this work a numerical method to simulate the response of reinforced concrete structures subject to cyclically imposed displacements is proposed. The method consists of a combination of a displacement and load controlled version of the Newton-Raphson iterative technique, used for the loading and the unloading part of the cycles respectively. The whole procedure is combined with a relatively simple concrete model whose only material parameter is its uniaxial compressive strength. The proposed methodology may realistically simulate, in an easy way, the physical process of any experimentally tested RC structure under imposed displacements cycles. The efficiency of the approach is demonstrated through a series of analyses of experimentally tested specimens reported in the literature.

• Advances in environmental research
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• v.7 no.1
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• pp.29-37
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• 2018

A simple mathematical model for predicting fixed bed adsorption dynamics is described. The model is characterized by a linear adsorption isotherm and a linear driving force expression for mass transfer. Its analytic solution can be approximated with an algebraic equation in closed form which is easily evaluated by spreadsheet computation. To demonstrate one application of the fixed bed model, a previously published adsorption system is used as a case study in this work. The adsorption system examined here describes chromium breakthrough in a fixed bed adsorber packed with imidazole functionalized adsorbent particles and is characterized by a nonlinear adsorption isotherm. However, the equilibrium behavior of the fixed bed adsorber is in essence governed by a linear adsorption isotherm due to the use of a low influent chromium concentration. It is shown that chromium breakthrough is predicted reasonably well by the fixed bed model. The model's parameters can be easily extracted from independent batch experiments. The proposed modeling approach is very simple and rapid, and only Excel is used for computation.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.3
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• pp.121-130
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• 2001

This paper addresses a method for evaluating perceived velocities of the graphic module in a driving simulator. The major two graphic factors associated with perceived velocities are analyzed: they are the lateral distance between a virtual driver and an array of environmental objects and the textural density of these objects. A graphical representation of a vehicle and its surrounding environment are constructed by employing a three-dimensional tool, Pro/ENGINEER and a virtual environment, dVISE. Using the developed virtual driving environment, experiments have been carried out to formulate the relationship between velocity perception and each factor. Based on the experimental results, nonlinear regression equations are derived to show how the perceived velocities are dependent upon distance/density.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.43-49
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• 2003

The common-rail fuel injection system is becoming a common technology for High Speed Direct Injection(HSDI) diesel engines. The injection timing and rate are important factors for combustion control and pollutants formation mechanisms during engine operation. This paper introduces an estimation methodology of the injection timing and rate of a common-rail injector for HSDI diesel engines. A sliding mode observer that is based on the nonlinear mathematical model of the common-rail injector is designed to overcome the model uncertainties. The injector model and the estimator we verified by relevant injection experiments in an injector test bench. The simulation and the experimental results show that the proposed sliding mode observer can effectively estimate the injection rate of the common-rail injector.

• Structural Engineering and Mechanics
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• v.23 no.4
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• pp.339-352
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• 2006

Observing the unique stress-strain curves of the superelastic shape memory alloy (SMA) in tension and compression, the primary intention of this study is to investigate the behavior of the shafts made of the same material, under torsional loading-unloading cycles for large angle of twist. Experiments have been performed for the superelastic SMA shafts with different unsupported lengths and angles of twist and the results are compared with those of stainless steel (SUS304) shafts under similar test conditions. As expected for the superelastic SMA, the residual strains are small enough after each cycle and consequently, the hysteresis under loading-reverse loading is much narrower than that for the SUS304. For large angle of twists, the torsional strength of the superelastic SMA increases nonlinearly and exceeds that of SUS304. Most interestingly, the slender solid superelastic SMA shafts are found to buckle when acted upon torsion for large angle of twist.

• Proceedings of KOSOMES biannual meeting
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• 2003.11a
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• pp.149-153
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• 2003

The hydrodynamic forces acting on the submerged plate are composed of diffraction and radiation forces. Thus we have carried out the extensive experiments and numerical simulations to make clear the characteristics of the diffraction and radiation forces on the submerged plate. These experimental results are compared with the numerical ones, and we discuss the effect of nonlinear on the hydrodynamic forces acting on the submerged plate. As a result, we get the conclusion that the submerged plate is useful for reducing the wave exciting forces on the structure behind the submerged plate.