• International Journal of Precision Engineering and Manufacturing
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• 제2권4호
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• pp.75-80
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• 2001

An error analysis is very important to estimate performance of a precision machine. This study proposes an error analysis for a new parallel device, a cubic parallel device. The cubic parallel manipulator has error sources including upper and lower universal joint errors due to the directional changes in the link and actuation errors. The maximum errors of the end effector are affected by the axial direction changes of each links and the clearances of the universal joints when the parallel manipulator is moving along a path. It is found that the changes of errors mostly occur at the positions where the directions of exerting link forces shift. The error analysis is based on an error model formed from the relation between the universal point errors and the end-effector accuracy. The analysis method can be also used in predicting the accuracy of other parallel devices.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.789-794
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• 2000

This study proposes an error analysis for a cubic parallel device. There are many sources of errors in the device. An error analysis is presented based on an error model formed from the relation between the universal joint error of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in evaluating the accuracy of a parallel device.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.730-733
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant limbs, obtained by putting additional limbs to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel, manipulator with redundant limbs. The redundancy in parallelism due to the increased number of limbs and the redundancy in actuation due to the increased number of active joints are considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant limbs. The effect of the redundant limbs on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.371-374
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant joints, obtained by putting additional active joints to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel manipulator with redundant joints. The redundancy in serial chain, due to the increased number of joints per limb, is considered in the modeling. Based oh the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant joints. The effect of the redundant joints on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.535-538
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• 1996

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

• Computers and Concrete
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• 제18권5호
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• pp.1019-1039
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• 2016

In this paper, a parallel algorithm of nonlinear dynamic analysis of three-dimensional (3D) reinforced concrete (RC) frame structures based on the platform of graphics processing unit (GPU) is proposed. Time integration is performed using Newmark method for nonlinear implicit dynamic analysis and parallelization strategies are presented. Correspondingly, a parallel Preconditioned Conjugate Gradients (PCG) solver on GPU is introduced for repeating solution of the equilibrium equations for each time step. The RC frames were simulated using fiber beam model to capture nonlinear behaviors of concrete and reinforcing bars. The parallel finite element program is developed utilizing Compute Unified Device Architecture (CUDA). The accuracy of the GPU-based parallel program including single precision and double precision was verified in comparison with ABAQUS. The numerical results demonstrated that the proposed algorithm can take full advantage of the parallel architecture of the GPU, and achieve the goal of speeding up the computation compared with CPU.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.211-214
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• 2000

An error analysis is very important for a precision machine tool to estimate its performance. This study proposes a new parallel device, a cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include universal joint errors, errors occurring due to changes in the fore directions in the links, and actuation errors. An error analysis is performed for the manipulator platform moving at uniform velocity. The analysis shows how the position and orientation of the platform influences the directional link forces that change the errors in the manipulator. The analysis shows that the method can be used in predicting the accuracy of parallel devices.

• 한국항공우주학회지
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• 제32권10호
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• pp.38-45
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• 2004

본 논문에서는 병렬 랜더링 기법의 특정들을 고창하고 이를 토대로 대규모 유한요소 해석결과를 효율적으로 가시화 할 수 있는 병렬 가시화 알고리듬을 제안하였다. 제안된 알고리듬은 요소영역별 계산을 기반으로 하는 병렬 유한요소 해석의 특성에 적합하도록 부분 후 분류방식을 기반으로 설계되었으며, 이미지 조합 과정에 수반되는 네트워크 통신을 효율화하고자 이진 트리구조 통신 패턴을 적용하여 구성되었다. 자체 개발된 소프트웨어를 이용하여 벤치마킹 테스트를 수행하고, 이를 통해 제안된 알고리듬의 병렬 가시화 성능을 측정하였다.

• 한국정밀공학회지
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• 제18권6호
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• pp.87-92
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• 2001

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device, cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include upper and down universal joint errors, due to the directional changes in the forces in the links, and actuation errors. An error analysis is presented based on an error model formed through the relation between the universal joint errors of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in predicting the accuracy of other cubic parallel devices.

• Journal of applied mathematics & informatics
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• 제41권6호
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• pp.1317-1326
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• 2023

Today's computers, desktops and laptops were build with multi-core architecture. Developing and running serial programs in this multi-core architecture fritters away the resources and time. Parallel programming is the only solution for proper utilization of resources available in the modern computers. The major challenge in the multi-core environment is the designing of parallel algorithm and performance analysis. This paper describes the design and performance analysis of parallel algorithm by taking the Knight Tour problem as an example using OpenMP interface. Comparison has been made with performance of serial and parallel algorithm. The comparison shows that the proposed parallel algorithm achieves good performance compared to serial algorithm.