• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.10-18
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• 2006

We propose a new approach to compute possible acceleration boundary, so is called dynamic manipulability, for multiple robotic systems with frictional contacts between robot end-effectors and object. As the frictional contact condition which requires each contact force to lie within a friction cone is based on the nonlinear inequality formalism is not easy to handle the constraint in manipulability analysis. To include the frictional contact condition into the conventional manipulability analysis we approximate the friction cone to a pyramid which is described by linear inequality constraints. And then achievable acceleration boundaries of manipulated object are calculated conventional linear programming technique under constraints for torque capability of each robot and the approximated contact condition. With the proposed method we find some solution to which conventional approaches did not reach. Also, case studies are Presented to illustrate the correctness of the proposed approach for two robot systems of simple planar robots and PUMA560 robots.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.4
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• pp.289-296
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• 2018

The offshore subsea platforms are connected to subsea pipelines to transport gas/oil from wells. The pipe is a multilayered structure of polymer and steel for compensating both flexibility and strength. The pipe also requires reinforcement structures to endure the extreme environmental conditions. A vertebrae structure of bend restrictors is one of the reinforcement structures installed to protect the subsea pipe from excessive bending deformations. In this study, structural behaviors of the subsea pipeline with bend restrictors are investigated by the multi-body contact analysis in Abaqus 6.14-2. Contact forces of each bend restrictor extracted from the multi-body contact analysis can be boundary conditions for topology design optimization in Altair Hyperworks 13.0 Hypermesh-Optistruct. Multiple design constraints are considered to obtain a manufacturable design with efficient material usage. Through the multi-body contact analysis with optimized bend restrictors, it is confirmed that the bending performance of the optimized design is enhanced.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.465-468
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• 2009

본 논문은 박물관이나 고가의 물품을 판매하는 곳에서 특정한 객체를 감시하고, 특정 객체의 도난을 방지하기 위하여 다중카메라를 설치하여 카메라 상호간의 정보를 교환함으로써 움직이는 객체를 추출하고 추적하는 시스템의 구현이다. 감시대상이 되는 객체의 상단과 정면에 카메라를 설치하여 움직임 객체가 감시대상 객체에 접촉하게 되면 두 대의 카메라가 동시에 움직임 객체를 추출하고 추적하게 된다. 먼저 정면의 카메라는 움직임 물체의 얼굴부분을 캡춰하고 지속적으로 얼굴영역을 확대 / 캡춰하면서 추적을 시작한다. 상단의 카메라는 많은 객체들의 움직임 속에서 특정한 객체만을 추적할 수 있으며, 추적은 방향예측을 통하여 수행하고 객체의 특징정보를 저장한다. 저장된 특징정보는 카메라의 범위를 벗어났을 때 인접한 카메라에 정보를 전송하고 지속적인 추적이 이뤄질 수 있도록 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.95-103
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• 1998

This paper deals with a problem occuring in recognition of tactile images due to the effects of imposed force at a me urement moment. Tactile image of a contact surface, used for recognition of the surface type, varies depending on the forces imposed so that a false recognition may result in. This paper fuzzifies two parameters of the contour of a tactile image with the membership function formed by considering the imposed force. Two fuzzifed paramenters are fused by the average Minkowski's dist; lnce. The proposed algorithm was implemented on the multisensor system cnmposed of an optical tact le sensor and a 6 axes forceltorque sensor. By the experiments, the proposed algorithm has shown average recognition ratio greater than 869% over all imposed force ranges and object models which is about 14% enhancement comparing to the case where only the contour information is used. The pro- ~oseda lgorithm can be used for end-effectors manipulating a deformable or fragile objects or for recognition of 3D objects by implementing on multi-fingered robot hand.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.3
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• pp.171-178
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• 2020

In this study, we develop MPI-OpenMP hybrid parallelization for multibody peridynamic simulations. Peridynamics is suitable for analyzing complicated dynamic fractures and various discontinuities. However, compared with a conventional finite element method, nonlocal interactions in peridynamics cost more time and memory. In multibody peridynamic analysis, the costs increase due to the additional interactions that occur when computing the nonlocal contact and ghost interlayer models between adjacent bodies. The costs become excessive when further refinement and smaller time steps are required in cases of high-velocity impact fracturing or similar instances. Thus, high computational efficiency and performance can be achieved by parallelization and optimization of multibody peridynamic simulations. The analytical code is developed using an Intel Fortran MPI compiler and OpenMP in NURION of the KISTI HPC center and parallelized through MPI-OpenMP hybrid parallelization. Further parallelization is conducted by hybridizing with OpenMP threads in each MPI process. We also try to minimize communication operations by model-based decomposition of MPI processes. The numerical results for the impact fracturing of multiple bodies show that the computing performance improves significantly with MPI-OpenMP hybrid parallelization.

• Journal of KIISE:Information Networking
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• v.34 no.5
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• pp.316-327
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• 2007

RFID (Radio Frequency Identification) is one of the most promising air interface technologies in the future for object identification using radio wave. If there are multiple tags within the range of the RFID tag reader, all tags send their tag identifications to the reader at the same time in response to the reader's query. This causes collisions on the reader and no tag is identified. A multi-tag identification problem is a core issue in the RFID. It can be solved by anti-collision algorithm such as slot based ALHOA algorithms and tree based algorithms. This paper, proposes a collision tree based anti-collision algorithm using collision tree in RFID system. It is a memory-less algorithm and is an efficient RFID anti-collision mechanism. The collision tree is a mechanism that can solve multi-tag identification problem. It is created in the process of querying and responding between the reader and tags. If the reader broadcasts K bits of prefix to multiple tags, all tags with the identifications matching the prefix transmit the reader the identifications consisted of k+1 bit to last. According to the simulation result, a proposed collision tree based anti-collision algorithm shows a better performance compared to tree working algorithm and query tree algorithm.