• Journal of KSNVE
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• v.6 no.5
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2001.04a
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• pp.361-367
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• 2001

This research aims at evaluating the seismic performance of the R/C bridge piers, which were seismically designed in accordance with the seismic provision of limited ductile behavior of Eurocode 8. Pseudo dynamic test for six(6) circular RC bridge piers has been carried out so at to investigate their seismic performance subjected to experted artificial earthquake motions. The objective of this experimental study is to investigate the hysteretic behavior of reinforced concrete bridge piers. Important test parameters are confinement steel ratio, input ground motion, etc. The seismic behavior of circular concrete piers under artificial ground motions has been evaluated through displacement ductility, energy analysis, capacity spectrum. It can be concluded that RC bridge piers designed in the seismic code of limited ductile behavior of Eurocode 8 have been determined to show good seismic performance even under expected artificial earthquakes in moderate seismicity region.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.5
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• pp.422-429
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• 2011

The critical fluid velocity of cantilevered cylindrical shells subjected to internal fluid flow is investigated in this study. The fluid-structure interaction is considered in the analysis. The cantilevered cylindrical shell is supported intermediately at an arbitrary axial position. The intermediate support is simulated by two types of artificial springs: translational and rotational spring. It is assumed that the artificial springs are placed continuously and uniformly on the middle surface of an intermediate support along the circumferential direction. The steady flow of fluid is described by the classical potential flow theory. The motion of shell is represented by the first order shear deformation theory (FSDT) to account for rotary inertia and transverse shear strains. The effect of internal fluid can be considered by imposing a relation between the fluid pressure and the radial displacement of the structure at the interface. Numerical examples are presented and compared with existing results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.12
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• pp.679-688
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• 2003

In order to navigate the mobile robots safely in unknown environments, many researches have been studied to devise navigational algorithms for the mobile robots. In this paper, we propose a navigational algorithm that consists of an obstacle-avoidance behavior module, a goal-approach behavior module and a radial basis function network(RBFN) supervisor. In the obstacle-avoidance behavior module and goal-approach behavior module, the fuzzy-artificial immune networks are used to select a proper steering angle which makes the autonomous mobile robot(AMR) avoid obstacles and approach the given goal. The RBFN supervisor is employed to combine the obstacle-avoidance behavior and goal-approach behavior for reliable and smooth motion. The outputs of the RBFN are proper combinational weights for the behavior modules and velocity to steer the AMR appropriately. Some simulations and experiments have been conducted to confirm the validity of the proposed navigational algorithm.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.17-22
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• 2021

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.94-103
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• 1996

This paper is concerned with the theroretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.

• Investigative Magnetic Resonance Imaging
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• v.26 no.1
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• pp.1-9
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• 2022

Artificial intelligence (AI) powered by deep learning (DL) has shown remarkable progress in image recognition tasks. Over the past decade, AI has proven its feasibility for applications in medical imaging. Various aspects of clinical practice in neuroimaging can be improved with the help of AI. For example, AI can aid in detecting brain metastases, predicting treatment response of brain tumors, generating a parametric map of dynamic contrast-enhanced MRI, and enhancing radiomics research by extracting salient features from input images. In addition, image quality can be improved via AI-based image reconstruction or motion artifact reduction. In this review, we summarize recent clinical applications of DL in various aspects of neuroimaging.

• Earthquakes and Structures
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• v.24 no.2
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• pp.111-126
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• 2023

Highly reliable and versatile methods artificial intelligence (AI) have found multiple application in the different fields of science, engineering and health care system. In the present study, we aim to utilize AI method to investigated vibrations in the human leg bone. In this regard, the bone geometry is simplified as a thick cylindrical shell structure. The deep neural network (DNN) is selected for prediction of natural frequency and critical buckling load of the bone cylindrical model. Training of the network is conducted with results of the numerical solution of the governing equations of the bone structure. A suitable optimization algorithm is selected for minimizing the loss function of the DNN. Generalized differential quadrature method (GDQM), and Hamilton's principle are used for solving and obtaining the governing equations of the system. As well as this, in the results section, with the aid of AI some predictions for improving the behaviors of the various sport systems will be given in detail.

• Economic and Environmental Geology
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• v.31 no.1
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• pp.53-57
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• 1998

Transient electromagnetic (TEM) method is also affected by cultural and natural electromagnetic (EM) noises, since it uses part of the broadband ($10^{-2}$ to $10^5Hz$) spectrum. Especially, predominant EM noise which affects a moving transmitter-receiver TEM system is sensor motion-induced noise. This noise is caused by the sensor motion in the earth magnetic field. The technique for reducing the sensor motion-induced EM noise presented in this paper is based on Halverson stacking. This Halverson stacking is generally used in a time-domain induced polarisation (IP) system to reject DC offset and linear drift. According to spectrum analysis of the vertical component of sensor motion-induced noise, the frequency range affected by the motion of an EM sensor is less than about 700 Hz in this study. With the decrease of the frequency, the spectral power caused by the motion of a sensor increases. For example, at the frequency of 200 Hz, the spectral power of the sensor motion-induced noise is $-90dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$, and at the frequency of 100 Hz, the spectral power of the sensor motion-induced noise is $-70dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$. With applying Halverson stacking to an artificial noise transient generated by adding a noise-free transient to sensor motion-induced noise measured without pulsing, it is shown that the filtered transient is nearly consistent with the noise-free transient within a delay time of $0.5{{\mu}sec}$. The inversion obtained from this filtered transient is in accord with the true model with an error of 5%.