• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Journal of Power System Engineering
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• v.6 no.2
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• pp.82-87
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• 2002

For the dynamic behavior evaluation of a semi-active vibration control system, it is very important to use an accurate mathematical model for the hydraulic damper applied to the control system. In this study, a mathematical model for a symmetric type hydraulic damper was suggested. In this model, the effects of gas volume and oil temperature variation on the bulk modulus of oil were considered. The dynamic behavior of the damper was investigated by experiments and simulations. It was confirmed that the pressure variation, damping force, and mean pressure variation could be estimated with comparatively good precision by the suggested mathematical model. Moreover, it was shown that excessive pressure rise can be generated by the oil expansion due to the heat energy transformed from the exciting energy of the damper for a short period of the damper operation.

• Journal of Welding and Joining
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• v.29 no.2
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• pp.94-101
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• 2011

A lumped mass damped vibratory model was proposed for quantitative understanding of welding machine characteristics. An experimental setup was developed to determine the mechanical parameters (moving mass m, equivalent stiffness k and damping c) which govern the dynamic mechanical response of the resistance spot welding machine. During the test, acceleration of the electrodes for each level of applied load was measured by accelerometer, filtered and numerically integrated to find the corresponding velocity and displacement. The machine dynamic parameters were determined by finding the unknowns of the proposed model with experimental data. A Simulink model was proposed to investigate the influence of these mechanical parameters on the welding process. The electrode response was simulated by changing values of stiffness and damping. It was observed that both of the machine parameters(c, k) have significant effect on the response of electrode head.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.45-48
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• 1986

In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1627-1632
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• 1991

A compact type LDPE autoclave reactor is analyzed with respect to the effects of the initiator feed concentration and the rate of heat transfer by employing the mixing-cell model with backflow. Singularity theory is applied for the single-cell model so that one can construct all the possible bifurcation diagrams. Since the single-cell model may not be adequate for the actual reactor, a two-cell model is also treated to predict the dynamic behavior of the reactor. As the rate of heat transfer increases, various multiplicity patterns and oscillatory motions are found. Apparently, the monomer conversion can be substantially increased with proper he-at removal and initiator supplement scheme. For this, however, the complex dynamic features accompanied must be taken into consideration in the reactor design.

• Industrial Engineering and Management Systems
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• v.16 no.1
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• pp.118-128
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• 2017

Uncertain factors in finical markets make the prediction of future returns and risk of asset much difficult. In this paper, a model,assuming the admissible errors on expected returns and risks of assets, assisted in the multiperiod mean variance portfolio selection problem is built. The model considers transaction costs, upper bound on borrowing risk-free asset constraints, cardinality constraints and threshold constraints. Cardinality constraints limit the number of assets to be held in an efficient portfolio. At the same time, threshold constraints limit the amount of capital to be invested in each stock and prevent very small investments in any stock. Because of these limitations, the proposed model is a mix integer dynamic optimization problem with path dependence. The forward dynamic programming method is designed to obtain the optimal portfolio strategy. Finally, to evaluate the model, our result of a meaning example is compared to the terminal wealth under different constraints.

• Geomechanics and Engineering
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• v.8 no.6
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• pp.801-810
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• 2015

The ultimate pullout capacity under inclined dynamic loading is an important measure of the destruction degree of vertical screw piles (anchors) under dynamic actions. Based on the static and dynamic tests on two kinds of model screw piles, the ultimate bearing capacity was researched considering different distance-width ratio of blade (D/W) and preloading ratio. The results compared well with other experimental data available in the literature. This research reveals that D/W might determine the failure model of the piles (anchors), for example D/W = 3.14 or 5; a critical dynamic-static loading ratio (DSLR) existed in the experiments. The critical DSLR was reached under the conditions of 40%~60% preloading (D/W = 3.14) or 20%~40% preloading (D/W = 5), respectively.

• Journal of Information Processing Systems
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• v.19 no.1
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• pp.130-138
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• 2023

The traffic flow in an urban area is affected by the date, weather, and regional traffic flow. The existing methods are weak to model the dynamic road network features, which results in inadequate long-term prediction performance. To solve the problems regarding insufficient capacity for dynamic modeling of road network structures and insufficient mining of dynamic spatio-temporal features. In this study, we propose a novel traffic flow prediction framework called shared spatio-temporal attention convolution optimization network (SSTACON). The shared spatio-temporal attention convolution layer shares a spatio-temporal attention structure, that is designed to extract dynamic spatio-temporal features from historical traffic conditions. Subsequently, the graph optimization module is used to model the dynamic road network structure. The experimental evaluation conducted on two datasets shows that the proposed method outperforms state-of-the-art methods at all time intervals.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.04a
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• pp.495-499
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• 2014

In this study, the finite element modeling for the signal cable and pneumatic hose of the industrial robot is developed. The modulus of elasticity of signal cable and pneumatic hose is predicted by deflection test. Finite element model for the signal cable and pneumatic hose is developed by using the modulus of elasticity obtained from the tests. The developed finite element model is estimated through the vibration analysis. This study shows that the developed finite element model can be effectively utilized in the dynamic analysis.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.11a
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• pp.201-208
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• 2000

In this study, the behavior of saturated sandy soils under dynamic loads - pore water pressure and effective stress - was investigated using Disturbed State Concept(DSC) model. The model parameters are evaluated from laboratory test data. During the process of loading and reverse loading, DSC model is utilized to trace strain-hardening and cyclic softening behavior. The procedure of back prediction proposed in this study are verified by comparing with laboratory test results. From the back prediction of pore water pressure and effective mean pressure under cyclic loading, excess pore water pressure increases up to initial effective confining pressure and effective mean pressure decrease close to zero in good greement with laboratory test results. Those results represent the liquefaction of saturated sandy soils under dynamic loads. The number of cycles at initial liquefaction using the model prediction is in good agreement with laboratory test results. Therefore, the results of this study state that the liquefaction of saturated sandy soils can be explained by the effective tress analysis.