• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Structural Engineering and Mechanics
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• v.21 no.5
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• pp.571-590
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• 2005

An 8 node assumed stress hexahedral element with rotational degrees of freedom is proposed for static and free vibration analyses. The element formulation is based directly on an 8-node element. This direct formulation requires fewer computations than a similar element that is derived from an internal 20-node element in which the midside degrees of freedom are eliminated by expressing them in terms of displacements and rotations at corner nodes. The formulation is based on Hellinger-Reissner variational principle. Numerical examples are presented to show the validity and efficiency of the present element for static and free vibration analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• Smart Structures and Systems
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• v.25 no.1
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• pp.1-22
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• 2020

The modal strain energy method is one of the efficient methods for detecting damage in the structures. Due to existing some limitations in real-world structures, sensors can only be located on a limited number of degrees of freedom (DOFs) of a structure. Therefore, the mode shape values in all DOFs of structures cannot be measured. In this paper, a modified modal strain energy based index (MMSEBI) is introduced to locate damaged elements of structures when a limited number of sensors are used. The proposed MMSEBI is based on the reconstruction of mode shapes using Improved Reduction System (IRS) method. Therefore, in the first step by employing IRS method, mode shapes in slave degrees of freedom are estimated by those of master degrees of freedom. In the second step, the proposed MMSEBI is used to located damage elements. In order to evaluate the efficiency of the proposed method, two numerical examples are considered under different damage patterns considering the measurement noise. Moreover, the universal threshold based on statistical hypothesis testing principles is applied to damage index values. The results show the effectiveness of the proposed MMSEBI for the structural damage localization when comparing with the available damage index named MESBI. The results demonstrate that the presented method can be used as a practical strategy for structural damage identification, especially when a limited number of sensors are installed on the structure. Finally, the combination of MMSEBI and IRS method can provide a reliable tool to identify the location of damage accurately.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.6
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• pp.94-101
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• 1994

About vibration model of Six-degrees-of-freedom(DOF), in mass load, examined results for knowing dynamic interference and response variation is as follows; In case of putting mass load upon the object, experimented results on two-degrees-of-freedom of the translation-1 direction and the rotation-1 direction at open-loop-control system, about 0.19 arcsed in input of the translation-$0.1{\mu}m$ and $0.022{\mu}m$ on input of the rotation-0.5 arcsec, the justicse of motion equation is acknowledged as confirming the appearance of the interference-$0.022{\mu}m$. In establishing calculation of transformation matrix by using analogue circuit, as simulating results that used incomplete differentiation, interference is $1.7{\times}10^{-3}$ arcsec on input of the translation-$0.1{\mu}m$ and $1.4{\times}10^{4}{\mu}m$ on input of the rotation-0.5 arcsec in open-loop-control system. Also it is $4.2{\times}10^{-4}$ arcsec on input of the translation-$0.1{\mu}m$ and $5.6{\times}10^{-5}{\mu}m$ on input of the rotation-0.5 arcesc in closed-loop-control system. As closed-loop-control system is better than open-loop-control system, equivalent accordance is confirmed on original response. Finally, fundamental validity of this theory is acknowledged.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.2
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• pp.291-298
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• 2017

In this paper, we derive the achievable degrees of freedom (DoF) for multiple-input multiple-output (MIMO) Z-interference channels (Z-IC) with reconfigurable antennas at the receivers, assuming that channel state information is not available at the transmitters. We propose a new linear scheme to align interfering signals and to decode desired signals through the designed preset mode switching pattern of reconfigurable antennas at the receivers. The key idea of our scheme is to use interfering signals as a side information at the interfered receiver by being silent at the corresponding transmitter during some time slots. Consequently, it is shown that the reconfigurable antennas at the receivers can bring a DoF gain if the number of preset modes is greater than the number of RF chains at the receivers.

• Journal of Internet Computing and Services
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• v.22 no.2
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• pp.51-58
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• 2021

Three degrees of freedom plus(3DoF+) and six degrees of freedom(6DoF) system, which supports a user's movements in graphical and natural scene-based virtual reality, requires multiple high-quality and high-resolution videos to provide immersive media. Previous video quality assessment methods are not appropriate for the 3DoF+ and 6DoF system assessment because different types of artifacts occur in these systems which are not shown in the traditional video compression. This paper provides the performance assessments of several quality assessment methods in 3DoF+ system. Furthermore, this paper presents a super metric, which combines multiple quality assessment methods, thereby it showed a higher correlation coefficient with the subjective quality assessment than the previous methods. Experimental results on 3DoF+ immersive video showed 0.4513 gain on correlation coefficient with subjective quality assessment compared to that of peak signal-to-noise ratio(PSNR).

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.1
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• pp.57-63
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• 2007

The systematic method to construct equivalent static load from a given dynamic load is proposed in the present study. Previously reported works to construct equivalent static load were based on ad hoc methods. Due to improper selection of loading position, they may results in unreliable structural design. The present study proposes the employment of primary degrees of freedom for imposing the equivalent static loads. The degrees of freedom are selected by two-level condensation scheme with reliability and efficiency. In several numerical examples, the efficiency and reliability of the proposed scheme is verified by comparison displacement for equivalent static loading and dynamic loading at the critical time.

• Journal of Ocean Engineering and Technology
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• v.13 no.1 s.31
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• pp.23-28
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• 1999

For offshore structures, dynamic analysis becomes increasingly important as water depth increases and structural configuration becomes more slender. In the case of dynamic analysis of frame structures, much computer time and high cost are required due to many degrees of freedom, In this paper, a new technique of permutating a segment of frame structure to a beam is developed, which is called here Beam Permutation Technique. The technique is based on definition of stiffness matrix of the beam which is obtained by defining the actions(or forces) required to obtain unit translation or rotation for each degree of freedom wiht al other degree of freedom restrained to zero displacement or rotation. In the technique, an assumption is made that relative positions of nodes in the ends of the segment are not variable, The technique can significantly reduce the degrees of freedom of frame structures and thus the computiong time in dynamic analysis. The natural frequencies and static displacements of the permutated beam are obtained and compared to those of ANSYS with a good agreement.

• Journal of Dental Rehabilitation and Applied Science
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• v.24 no.1
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• pp.57-65
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• 2008

Purpose: Misfit of implant components was very important in terms of prosthodontics. they has been linked to prosthetic complications such as screw loosening and fracture. Although there are many results about rotational freedom or machining tolerance between fixture and abutments, the data about domestic implant systems are lacking. The aim of this in vitro study was to evaluate the rotational freedom of domestic external and internal connection implant systems between their fixtures/anlaogs and abutments comparing imported systems. Materials and Methods: Rotational freedom between abutments and fixtures/analogs was investigated by using digitalized rotational angle measuring device. (1) 1 domestic external connection system(Neobiotec) and 2 imported external connection systems(Nobel Biocare, Anthorgyr), (2) 1 domestic internal connection system(Dentium) and 4 imported external connection systems(Nobel Biocare, Anthorgyr, Straumann, Frident Dentsply), and (3) 1 domestic zirconia external connection abutment(ZirAce) were evaluated. Each group has 3 samples. Mean values for each group were analyzed. Results: The differences relative to rotational freedom between domestic and imported implant systems were observed but domestic external connection implant system showed about 2.67 degrees(in case of fixture) and internal connection system showed about 4.3 degrees(in case of fixture). Domestic zirconia abutment showed less than 3 degrees of rotational freedom in a situation where the abutment was connected to an implant fixture egardless of domestic or imported systems. Conclusion: Newly developed digitalized rotational angle measuring device has high measuring resolution. The rotational freedom of domestic implant systems were similar to imported implant systems.