• Korean System Dynamics Review
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• v.8 no.2
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• pp.209-234
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• 2007

Recently, balanced scorecard is widely used in the public sector as well as in the private sector. Balanced scorecard system of a particular hospital is a very useful tool in the sense that it shows various measures for the management including the traditional financial measures. However, since it does not show the impact of action items, managers have to analyze his potential decisions. On the other hand, a system dynamics model for the management of a hospital can be used to predict future management status. In this paper, a balanced scorecard system with a system dynamics model is developed for a small sized hospital, and the feasibility and applicability of the system have been tested. It turns out the combination of the balanced scorecard and system dynamics technique can be comprised each other. The balanced scorecard system can take advantage of the data forecasted by the system dynamics model including the implementation of action items taken today. On the other hand, the key performance indicators and action items from the balanced scorecard system provide guidelines the scope and direction of the system dynamics model. The additional efforts of developing a system dynamics model are well compensated by the additional colorful functionalities of the system. This paper also covers the future research areas for the combined system to be more effectively developed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.444-448
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• 2003

In this paper, the Lagrange dynamics is studied. A state space representation of Lagrange dynamics and control algorithm based on the state feedback pole placement are presented. The state space model presented is descriptor type linear parameter dependent system. It is shown that the control algorithms based on the linear system theory can be applicable to the state space representation of Lagrange dynamics. To show that the linear system theory can be applicable to the state space representation of Lagrange dynamics, the LMI based regional pole-placement design algorithm is developed and present two examples.

• Proceedings of the Korean Society of Potoscience Conference
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• spring
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• pp.89-90
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• 1999

• Bulletin of the Korean Chemical Society
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• v.24 no.6
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• pp.744-750
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• 2003

In quantum dynamics of many-body systems, to identify the Hamiltonian becomes more difficult very rapidly as the number of degrees of freedom increases. In order to simplify the dynamics and to deduce dynamically relevant Hamiltonian information, it is desirable to control the dynamics to lie within a reduced space. With a judicious choice for the cost functional, the closed loop optimal control experiments can be manipulated efficiently to steer the dynamics to lie within a subspace of the system eigenstates without requiring any prior detailed knowledge about the system Hamiltonian. The procedure is simulated for optimally controlled population transfer experiments in the system of two degrees of freedom. To show the feasibility of steering the dynamics to lie in a specified subspace, the learning algorithms guiding the dynamics are presented along with frequency filtering. The results demonstrate that the optimal control fields derive the system to the desired target state through the desired subspace.

• Korean System Dynamics Review
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• v.1 no.1
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• pp.57-79
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• 2000

Most model constructs in organization studies are descriptive in nature, and the conclusions relating to the model behavior over time are speculative. The usefulness of System Dynamics as a methodology for modeling and testing dynamic behavioral hypotheses in organizational behavioral studies is presented, and how to construct a System Dynamics model using simulation software(VENSIM) is shown, The well-know March and Simon motivation model is used to demonstrate the step by step application of System Dynamics to model of this type. The dynamic behavior of the model, both transient and steady state, is obtained, Even though the paper has focused on one model in the area of individual behavior, the approach is general and can be applied to other areas of organizational behavior as will. The usefulness of System Dynamics as a methodology for theory building is identified as well.

• Korean System Dynamics Review
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• v.7 no.1
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• pp.27-49
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• 2006

A system dynamics model is developed to investigate the applicability of the agent based modeling concept in the system dynamics model. The assumed problem is to forecast the size and structure of the organization with the developing market environment. The agent based modeling concept is applied to the organization part, and the other parts of the model such as market, facilities, etc. are developed with the traditional system dynamics technique. The simulation results show the agent based modeling part can be combined with the traditional system dynamics modeling with more precisions. However, the complexity increases and the simulation times are longer than those of the traditional method.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.5
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• pp.90-97
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• 2014

This paper presents a simplified dynamics model, dynamics simulations, and computed torque control experiments of the Delta high-speed parallel robot. Using the typical Newton-Euler method, a simplified but accurate dynamics model with practical assumptions is derived. Accuracy and fast calculations of the dynamics are essential in the computed torque control for high-speed applications. It was found that the simplified dynamics equation is in very god agreement with the ADAMS model, and the calculation time of the inverse kinematics and inverse dynamics is about 0.04 msec. From the dynamics simulations, the cycle trajectory along the y-axis requires less peak motor torque and a lower angular velocity and less power than that along the x-axis. The computed torque control scheme can reduce the position error by half as compared to a PD control scheme. Finally, the developed Delta parallel robot prototype, half the size of the ABB Flexpicker robot, can achieve a cycle time of 0.43 sec with a 1.0kg payload.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.760-768
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• 2007

This paper introduces an emotional behavior decision model based on linear system for intelligent service robots. An emotional model should make different behavior decisions according to the purpose of the robots. We propose an emotional behavior decision model which can change the character of intelligent service robots and make different behavior decisions although the situation and environment remain the same. We defined each emotional element such as reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics by state dynamic equations. The proposed system model is a linear dynamic system. If you want to add one external stimulus or behavior, you need to add just one dimensional vector to the matrix of external stimulus or behavior dynamics. The case of removing is same. The change of reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics also follows the same procedure. We implemented a cyber robot and an emotional head robot using 3D character for verifying the performance of the proposed emotional behavior decision model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.497-500
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• 2002

When one is interested in the dynamics of a mechanical system with electric motors, the force generated by the motor is generally considered as only an applied torque or force independent of mechanical state variables such as velocity. For a system operated in non-steady dynamic conditions, however, the usual analysis approach may fail to predict some characteristics in the dynamic behaviors because of electromechanical coupling effects. In this paper, we propose dynamics analysis model in which dc motor dynamics with the electromechanical coupling effects are embedded to mechanical dynamics models. The do motor is modeled based on its equivalent circuit model and included in the dynamics solving algorithm which we developed before, called generalized recursive dynamics formula. The developed dynamic analysis model is effective and realistic for analysis of electromechanical dynamics of a system with do motors. The developed model is evaluated by constructing and simulating the flexible antennas of an artificial satellite driven by do motors.