• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Korean System Dynamics Review
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• v.1 no.2
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• pp.5-31
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• 2000

The summit meeting of the South North Korean leaders was a turning point in the relationships between the two countries. It was followed by the Red-Cross Meeting, Minister-Level Meeting, economic agreements, which have increased the relationship more colorful in both quantities and qualities. However, the half-century period for separation was too long to overcome all the problems by only one event. The two countries have quite different social systems; one politically strong person is governing the North, while many interest groups are involved in political decision making processes in the South. In short, it would take a long time to settle down all the problems residing between the two countries. A system dynamics model is developed to describe the long term dynamics of the relations between the South and North Koreas. As a first attempt, the model focuses only on the diplomatic meeting issues between the South and North. The model aggregates diplomatic issues into 5 categories; economic issues, security issues, infrastructure, cultural issues, and past problems. It assumes that there would not be any dramatic changes between the two countries. It is a conceptual model composed of around 200 variables, and should not be used as a forecast tool. However, it captures most of the logics discussed in the papers and conferences concerning the South and North Korea relations. Many sensitivity studies and Monte Carlo simulations have shown that the simulation results matches with mental models of experts; that is the model can be used as a learning tool or as a secondary opinion until the data required by the model is collected. In order to analyze the current situation, five scenarios are simulated and analyzed; the functional approach, the conditional approach, the balanced approach, the circumstantial approach, and the strategic approach. The functional approach represents that the South makes efforts in the area where the possibility of agreement is high for the next 10 years. The conditional approach is a scenario where the South impose all difficult issues as conditions for resolving other diplomatic issues. The balanced approach is resolving the five issues with the same priorities, while the circumstantial approach is resolving issues which seem to be resolved easily. Finally, another optimum approach has been seek using the system dynamics model developed. The optimum strategy (it is named as the strategic approach) was strikingly different from other four approaches. The optimum strategy is so complicated that no one could find it with mental model(or by just insights). Considering that the system dynamic model used to find the optimum is a simplifind (maybe over simplified) version of the reality, it is concluded that a well designed system dynamics model would be of great help to resolving the complicated diplomatic problems in any kind.

• International Journal of Automotive Technology
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• v.6 no.4
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• pp.403-411
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• 2005

The bus is regarded as one of the most frequently used public transportation systems, the research and development on driving stability, safety, and convenience for drivers and passengers has tremendously increased in recent days. This paper investigated the design of the bus door mechanism composed of an actuator (or motor) and linkages. The bus door mechanism is divided into many types according to the coupling of the linkages and the driving system. The mathematical models of all types of door mechanism have been constructed for computer simulation. To design the bus door mechanism, we developed a simulation program, which automates the kinematic and dynamic analysis according to the input parameters of each linkage and the driving system. Using this program, we investigated the design parameters that affect the kinematic and dynamic characteristics of the bus door mechanism under various simulation conditions. In addition, simple examples are examined to validate the developed program.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.05a
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• pp.595-598
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• 2004

In recognizing knowledge as a new resource in gaining organizational competitiveness, knowledge management suggests a method in managing and applying knowledge for improving organizational performance. Much knowledge management research has focused on identifying, storing, and disseminating process related knowledge in an organized manner. Applying knowledge to decision making has a significant impact on organizational performance than solely processing transactions for knowledge management. In this research, we suggest a method of knowledge-based decision-making using system dynamics, with an emphasis to strategic problems. The proposed method transforms individual mental models into explicit knowledge by translating partial and implicit knowledge into an integrated knowledge model. The scenario-based test of the organized knowledge model enables decision-makers to understand the structure of the target problem and identify its basic cause, which facilitates effective decision-making. This method facilitates the linkage between knowledge management initiatives and achieving strategic goals and objectives of an organization.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.305-310
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• 2005

Recently, many organizations in various industries have introduced e-businesses for the purpose of adding value to their businesses. However, due to no comparable business models to e-business in the past, there are no reliable yardsticks to predict the performance of an e-business. This paper considers an environmental change analysis as a means to resolve this difficulty. System Dynamics (SD) could be a useful tool to generate effective results by examining the e-business model. SD model is developed to analyze the effects of an e-sales channel which was appended to the existing sales channels in the steel manufacturing industry. The results show an increase in average price and sales volume through the use of an auction process on the e-marketplace. Stocking expenses are reduced as well by the increase of the sales turnover. A possible scenario was adopted to the developed simulation model and investigated strategic issues to draw desirable strategies with market changes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.817-821
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• 1997

Ever since the nonlinearity of machine tool dynamics was established, researchers attempted to make use of this fact to devise better monitoring, diagnostics and system, which were hitherto based on linear models. Theory of chaos, which explains many nonlinear phenomena comes handy for furthering the analysis using nonlinear model. In this study, measuring system will be constructed using multi-sensor (Tool Dynamometer, Acoustic Emission) in end millingprocess. Then, it will be verified that cutting force is low-dimensional deterministic chaos calculating Lyapunov exponents, Fractal dimension, Embedding dimension. Aen it will be investigated that the relations between characteristic parameter caculated form sensor signal and tool wear.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.157-160
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• 1995

Neural networks potentially offer a general framework for modeling and control of nonlinear systems. The conventional neural network models are a parody of biological neural structures, and have very slow learning. In order to emulate some, dynamic functions, such as learning and adaption, and to better reflect the dynamics of biological neurons, M.M.Gupta and D.H.Rao have developed a 'dynamic neural model'(DNU). Proposed neural unit model is to introduce some dynamics to the neuron transfer function, such that the neuron activity depends on internal states. Numerical examples are presented for a model system. Those case studies showed that the proposed DNU is so useful in practical sense.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.11
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• pp.93-101
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• 1997

Ever since the nonlinearity of machine tool dynamics was established, researchers attempted to make use of this fact to devise better monitoring, diagnostics and control system, which were hitherto based on linear models. Theory of chaos which explains many nonlinear phenomena comes handy for furthering the analysis using nonlinear model. In this study, measuring system will be constructed using multi-sensor (Tool Dynamometer, Acoustic Emission) in end milling process. Then, it will be verified that cutting force is low-dimensional chaos by calculating Lyapunov exponents. Fractal dimension, embedding dimension. And it will be investigated that the relation between characteristic parameter calculated from sensor signal and tool wear.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.687-689
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• 2014

This paper deals with the optimal muffler model by using acoustic analysis and CFD(computational fluid dynamics) analysis. The complicated muffler model could be better noise reduction performance. However, it could be worse affected to back-pressure performance by pressure drop in working fluid. High back-pressure is caused to low system efficiency. Therefore, it is important for the muffler design to consider the pressure drop. The muffler models are changed their partition plate position. Acoustic power transmission loss(TL) and pressure drop of working fluid are calculated by using computational analysis and used to build database for finding their trends. The optimal muffler model in user-interested frequency range could be selected by analyzing this database.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.547-550
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• 2004

We present a multiscale scheme which describes the dynamic pictures of atoms in the multiple length-scale systems. Large-scale atomic systems are reduced to coarse grained system by the quasicontinuum, of which the dynamic pathways are rendered by the action-derived molecular dynamics proved effective for multiple time-scale problems such as rare events. Adatom diffusions on the metal (001) surface are selected for our numerical examples. The energy barriers of the diffusions and the real dynamic trajectories of the adatoms are calculated.