• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.37-40
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• 1988

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulator by increasing the manipulability. The method, however, requires exprecessive energy and gives rather large tracking errors since the manipulability is increased repidly so that the manipulator avoid the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2483-2491
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• 2002

This study presents an efficient method for robust optimal design. In order to avoid the excessive evaluations of the exact performance functions, two-point diagonal quadratic approximation method is employed for approximating them during optimization process. This approximation method is one of the two point approximation methods. Therefore, the second order sensitivity information of the approximated performance functions are calculated by an analytical method. As a result, this enables one to avoid the expensive evaluations of the exact $2^{nd}$ derivatives of the performance functions unlike the conventional robust optimal design methods based on the gradient information. Finally, in order to show the numerical performance of the proposed method, one mathematical problem and two mechanical design problems are solved and their results are compared with those of the conventional methods.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.402-405
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• 2001

A short shot is a molded part that is incomplete because insufficient material was injected into the mold. Remedial actions to control the process conditions can be taken by the injection molding experts based on their knowledge and experience. However, it is very difficult for the non-experts to avoid short shot by finding the proper process conditions such as mold temperature, melt temperature and filling time. In this paper, an intelligent generator of the optimal process conditions based upon fuzzy logic algorithm is proposed so that trial and error can be minimized and the non-experts as well as the experts can also find the optimal process conditions.

• Earthquakes and Structures
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• v.7 no.4
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• pp.415-448
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• 2014

A method is presented in this paper to analyze the dynamic response behavior of suspended building structures. The effect of semi-rigid connections that link suspended floors with their supporting structure on structural performance is investigated. The connections, like the restrains in non-structural suspended components, are designed as semi-rigid to avoid pounding and as energy dissipation components to reduce structural response. Parametric study is conducted to assess the dynamic characteristics of suspended building structures with varying connection stiffness and suspended mass ratios. Modal analysis is applied to identify the two distinct sets of vibration modes, pendulum and bearing, of a suspended building structure. The cumulative modal mass is discussed to ensure the accuracy in applying the method of response spectrum analysis by SRSS or CQC modal combination. Case studies indicate that a suspended building having semi-rigid connections and proper suspended mass ratios can avoid local pounding failure and reduce seismic response.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1073-1078
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• 2012

This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2001.09a
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• pp.57-64
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• 2001

There are some previous reports that some animals such as rats and birds move in a large group and act abnormally to avoid the large earthquake. This study is to experimentally testify what relations exist between the anomalous animal behavior and electric field effect, which is reported due to the piezoelectric effects in a basement rock before earthquake occurrences. When electric field is applied to the whole bottom of the cage, they show nervous behaviors such as grooming, washing their faces, standing on legs or running around in panic to avoid the electric field. When more strong electric field is applied, they jump with shrieking and mount on the electric line. The rat shows more sensitive anomalous behavior than the bird. Even though the current to the experimental birds and rats is just a few $\mu$A, they react in various ways. The anomalous animal behaviors under the small ground electric field may have some relations to the actual phenomena before great earthquake. This kind of study is quite worthy for the understanding of earthquake precursors.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.157-162
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• 2012

A structural modification of baseframe is an effective method to avoid resonance in marine diesel generator (D/G) set which consists of diesel engine, generator and baseframe. However the reinforcement with thick plates or additional parts to increase the natural frequency can be less effective because of increased weight. Especially fine control of target mode based on the experience is difficult because the weight and interference of system have to be considered. In this paper, the design optimization of baseframe was performed to reduce the resonant vibration using a gradient descent method. The design parameters such as thickness, shape and location of baseframe parts are optimized to increase the torsional natural frequency of D/G set. From the actual test, the new designed baseframe reduced the vibration level in resonance by 55% without any increase of weight and interference. interference.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.1
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• pp.25-31
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• 2012

We propose a method for an indoor mobile robot to track user with infrared transmitter. Several infrared receivers attached around by the mobile robot enable the robot to determine the moving direction by comparing the received signal patterns. The cost of the proposed system is not only cheaper than ultrasonic system, image signal processing, RFID, and RSSI method, but also robust against environment change because any complex algorithm is not necessary. In the mobile robot, ultrasonic sensors are equipped to avoid obstacles located in the moving direction, and a simple algorithm is embedded to avoid the case of poor signal reception.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.944-945
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• 2015

Many sensitive loads always rely on UPS systems to maintain continuous power during abnormal utility power conditions. As any disturbance occurs at the utility side, an off-line UPS system takes over the load within a quarter cycle to avoid a blackout. However, the starting of the inverter can root the momentous inrush current for the transformer installed before the load, due to its magnetic saturation. The consequences of this current can be a reduction of line voltage and tripping of protective devices of the UPS system. Furthermore, it can also damage the transformer and decrease its lifetime by increasing the mechanical stresses on its windings. To prevent the inrush current, and to avoid its disruptive effects, this paper proposes an off-line UPS system that eliminates the inrush current phenomenon while powering the transformer coupled loads, using a current regulated voltage source inverter (CRVSI) instead of a typical voltage source inverter (VSI). Simulations have been performed to validate the operation of proposed off-line UPS system.