• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.243-251
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• 2014

In inference fit assembly process of the industrial robot, it basically needs the force data. One of the typical methods to get the force data is attaching torque sensors on the robot arm joint or end effector. This is effective way to reduce time delay and to improve preciseness of force control, but this method has several problems. To solve that problem, this paper suggests method which measures assembly force without torque sensor by using the sliding perturbation observer(SPO) and assembly process based on SPO to assemble successfully in inference assembly

• ETRI Journal
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• v.41 no.2
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• pp.207-223
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• 2019

Network function virtualization can significantly improve the flexibility and effectiveness of network appliances via a mapping process called service function chaining. However, the failure of any single virtualized network function causes the breakdown of the entire chain, which results in resource wastage, delays, and significant data loss. Redundancy can be used to protect network appliances; however, when failures occur, it may significantly degrade network efficiency. In addition, it is difficult to efficiently map the primary and backups to optimize the management cost and service reliability without violating the capacity, delay, and reliability constraints, which is referred to as the reliability-aware service chaining mapping problem. In this paper, a mixed integer linear programming formulation is provided to address this problem along with a novel online algorithm that adopts the joint protection redundancy model and novel backup selection scheme. The results show that the proposed algorithm can significantly improve the request acceptance ratio and reduce the consumption of physical resources compared to existing backup algorithms.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2020.06a
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• pp.161-162
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• 2020

Cracks are caused by drying shrinkage between the upper part of the underground parking lot and the apartment wall. As a result of the investigation, the distance between the apartment and the apartment is more than 45m, and the top slab of the underground parking lot is usually flat when there is not with steps. Therefore, the crack occurs more when the underground parking lot is a PC slab than a RC slab. In this study, the reduction of cracks was conducted by extending the slab, expanding the beam size, increasing the wall thickness, and installing a delay joint on slab. In each case, a finite element analysis was performed to examine the crack reduction method.

• Journal of Convergence for Information Technology
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• v.11 no.3
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• pp.250-260
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• 2021

The purpose of this study is to investigate muscle function and symmetry index during whole body vibration exercise using lower extremity training posture for throwing athletes. For throwing athletes in their 20s(6 males, 4 females, age: 24.60±0.92years, height: 177.90±7.40cm, weight: 92.90±22.97kg), lower extremity training postures with squat, carphrase, and lunge movements. Whole body vibration exercise training was performed using. Tensiomyography(TMG) variables Time Delay(Td), Time Contraction(Tc), Time Sustain(Ts) Time Relaxation(Tr), and Displacement Maximumal(Dm) in the lower extremity joint muscles(biceps femoris(BF), gastrocnemius lateral(GL), gastrocnemius medial(GM), rectus femoris(RF), tibialis anterior(TA), lateral vastus(LV), medial latissimus(ML)), were measured to compare and analyze muscle activity, muscle fatigue, and left-right symmetry. The results of the study are left RF, VL, right VM (p<.05) in Td, VM (p<.05) in Tc, GM in Ts (p<.05), left RF in Tr, and right TA (p<. 05) showed a change. Therefore, it has been proven that various whole-body vibration training is an effective exercise with changes in muscle contraction, and stability of the core is secured by symmetry of the left and right muscles. For this reason, the whole body vibration exercise will have a positive effect on rehabilitation training, and it is believed that it will be able to improve performance.

• Composites Research
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• v.33 no.5
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• pp.296-301
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• 2020

Laminated composite materials have excellent in-plane properties, but are vulnerable in thickness directions, making it easy to delamination when bending and torsion loads are applied. Thickness directional reinforcement methods of composite materials that delay delamination include Z-pinning, Stitching, Tufting, etc., and typically Z-pinning and Stitching method are commonly used. The Z-pinning is reinforcement method by inserting metal or carbon pin in the thickness direction of prepreg, and the conventional stitching process is a method of reinforcing the mechanical properties in the thickness direction by intersecting the upper and lower fibers on the preform. In this paper, I-fiber stitching method, which complement and improve weakness of Z-pinning and Stitching method, was proposed, and the static strength of composite single-lap joints using I-fiber stitching process were evaluated. The single-lap joints were fabricated by a co-curing method using an autoclave vacuum bag process. The thickness of the composite adherend was fixed, and 5 types of specimens were manufactured with varying the stitching pattern (5×5, 7×7) and angle (0°, 45°). From the test, the failure load of the specimen reinforced by the I-fiber stitching process was increased by up to 143% compared to that of specimen without reinforcement.

• Composites Research
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• v.35 no.5
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• pp.322-327
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• 2022

Composite lap joints have been extensively used due to their excellent properties and the demand for light structures. However, due to the weak mechanical properties in the thickness direction, the lap joint is easily fractured. various reinforcement methods that delay fracture by dispersing stress concentration have been applied to overcome this problem, such as z-pinning and conventional stitching. The Z-pinning is reinforcement method by inserting metal or carbon pin in the thickness direction of prepreg, and the conventional stitching process is a method of reinforcing the mechanical properties in the thickness direction by intersecting the upper and lower fibers on the preform. I-fiber stitching method is a promising technology that combines the advantages of both z-pinning and the conventional stitching. In this paper, the static and fatigue strengths of the single-lap joints reinforced by the I-fiber stitching process were evaluated. The single-lap joints were fabricated by a co-curing method using an autoclave vacuum bag process and I-fiber reinforcing effects were evaluated according to adherend thickness and stitching angle. From the experiments, the thinner the composite joint specimen, the higher the I-fiber reinforcement effect, and Ifiber stitched single lap joints showed a 52% improvement in failure strength and 118% improvement in fatigue strength.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• The KIPS Transactions:PartC
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• v.11C no.7 s.96
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• pp.905-916
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• 2004

Self-organizing hierarchical ad hoc network (SOHAN) is a new ad-hoc network architecture designed to improve the scalability properties of conventional 'flat' ad hoc networks. This network architecture consists of three tiers of ad-hoc nodes, i.e.. access points, forwarding nodes and mobile nodes. This paper presents a topology discovery and routing protocol for the self-organization of SOHAN. We propose a cross-layer path metric based on link quality and MAC delay which plays a key role in producing an optimal cluster-based hierarchical topology with high throughput capacity. The topology discovery protocol provides the basis for routing which takes place in layer 2.5 using MAC addresses. The routing protocol is based on AODV with appropriate modifications to take advantage of the hierarchical topology and interact with the discovery protocol. Simulation results are presented which show the improved performance as well as scalability properties of SOHAN in terms of through-put capacity, end-to-end delay, packet delivery ratio and control overhead.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.5
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• pp.19-28
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• 2005

It is of great economic importance to minimize the cylinder wear and the consumption rate of cylinder oil in a large two-stroke diesel engine. The motor-driven cylinder lubricator was first developed fur a large two-stroke marine diesel engine made in $W{\ddot{a}}rtsil{\ddot{a}}a$ Switzerland Ltd. by the joint research of industry-university. In this study, the effects of revolution speed, plunger stroke and cylinder back pressure on maximum discharge and delivery pressures, delivery delay duration, and oil feed rate are experimentally investigated by the home-manufactured cylinder lubricator. The maximum discharge pressure with a spot of 0.03 m and the maximum loss pressure at spots of 5, 6.78 and i 0 m away from the end of lubricator slot are increased as plunger stroke, revolution speed and back pressure are elevated, and the delivery delay duration is shortened as plunger stroke, revolution speed and oil pipe length are increased. Also, oil feed rate is increased as plunger stroke and revolution speed are raised, but lowered as the back pressure is increased.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.40 no.3
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• pp.66-75
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• 2017

Priority disciplines are an important scheme for service systems to differentiate their services for different classes of customers. (N, n)-preemptive priority disciplines enable system engineers to fine-tune the performances of different classes of customers arriving to the system. Due to this virtue of controllability, (N, n)-preemptive priority queueing models can be applied to various types of systems in which the service performances of different classes of customers need to be adjusted for a complex objective. In this paper, we extend the existing (N, n)-preemptive resume and (N, n)-preemptive repeat-identical priority queueing models to the (N, n)-preemptive repeat-different priority queueing model. We derive the queue-length distributions in the M/G/1 queueing model with two classes of customers, under the (N, n)-preemptive repeat-different priority discipline. In order to derive the queue-length distributions, we employ an analysis of the effective service time of a low-priority customer, a delay cycle analysis, and a joint transformation method. We then derive the first and second moments of the queue lengths of high- and low-priority customers. We also present a numerical example for the first and second moments of the queue length of high- and low-priority customers. Through doing this, we show that, under the (N, n)-preemptive repeat-different priority discipline, the first and second moments of customers with high priority are bounded by some upper bounds, regardless of the service characteristics of customers with low priority. This property may help system engineers design such service systems that guarantee the mean and variance of delay for primary users under a certain bounds, when preempted services have to be restarted with another service time resampled from the same service time distribution.