• Journal of the Institute of Convergence Signal Processing
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• v.14 no.3
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• pp.169-180
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• 2013

The modification of conditional Fuzzy C-Means (CFCM) with Gaussian weights (CFCM_GW) is accomplished for blind equalization of channels in this paper. The proposed CFCM_GW can deal with both of linear and nonlinear channels, because it searches for the optimal desired states of an unknown channel in a direct manner, which is not dependent on the type of channel structure. In the search procedure of CFCM_GW, the Bayesian likelihood fitness function, the Gaussian weighted partition matrix and the conditional constraint are exploited. Especially, in contrast to the common Euclidean distance in conventional Fuzzy C-Means(FCM), the Gaussian weighted partition matrix and the conditional constraint in the proposed CFCM_GW make it more robust to the heavy noise communication environment. The selected channel states by CFCM_GW are always close to the optimal set of a channel even when the additive white Gaussian noise (AWGN) is heavily corrupted. These given channel states are utilized as the input of the Bayesian equalizer to reconstruct transmitted symbols. The simulation studies demonstrate that the performance of the proposed method is relatively superior to those of the existing conventional FCM based approaches in terms of accuracy and speed.

• Transactions of Materials Processing
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• v.22 no.4
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• pp.196-203
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• 2013

Flexible stretch forming is an appropriate process for manufacturing of components for aerospace, shipbuilding and architecture structures. Flexible stretch forming has several advantages including that it could be applied to form various shapes such as ones with double curved surfaces. In this study, a systematic numerical simulation was conducted for forming double curved surfaces using flexible stretch forming. The desired surface had a saddle type configuration. It had two radii one of 2500mm and the other of 2000mm along its length and width. In the simulation, the decrease of elastic recovery due to the stretching was confirmed. Experiments were also conducted to confirm the viability of the process. By comparing the simulation to the experiment results, the suitability of flexible stretch forming for double curved surfaces was verified. From the results, the maximum error from desired surface was confirmed at about 1.3mm at the edge of the surface. Hence, it is confirmed that flexible stretch forming has the capability and feasibility to manufacture curved surfaces for architectural skin-structures of buildings.

• Advances in Computational Design
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• v.3 no.2
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• pp.147-163
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• 2018

Cementitious composites are multiphase heterogeneous materials with distinct dissimilarity in strength under compression and tension (high under compression and very low under tension). At macro scale, the phenomenon can be well-explained as the material contains physical heterogeneity and pores. But, it is interesting to note that this dissimilarity initiates at molecular level where there is no heterogeneity. In this regard, molecular dynamics based computational investigations are carried out on cement clinkers and calcium silicate hydrate (C-S-H) under tension and compression to trace out the origin of dissimilarity. In the study, effect of strain rate, size of computational volume and presence of un-structured atoms on the obtained response is also investigated. It is identified that certain type of molecular interactions and the molecular structural parameters are responsible for causing the dissimilarity in behavior. Hence, the judiciously modified or tailored molecular structure would not only be able to reduce the extent of dissimilarity, it would also be capable of incorporating the desired properties in heterogeneous composites. The findings of this study would facilitate to take step to scientifically alter the structure of cementitious composites to attain the desired mechanical properties.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.856-866
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• 1992

In this paper, the graphic simulation system Is presented which supports the determination of efficient multi-robot motions during cooperation. For the construction of the simulation software for multi robot motions, two problems are described. First problem is that all the robot motions must be determined using both the desired object motions and the holonomic constraints with the object. To find the robot motions combined with the various object motion path, the robot motions are derived from the desired object path instead of a master robot path. There ore, robot motions can be easily modifiable with #he various object motions. This type of motion determination Is different from that of the master-slaves method using the master robot motions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.891-894
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• 2005

This paper describes a human finger model driven by shape memory alloy(SMA) wires. The finger model has three joints that are similar to human finger. Each joint is actuated with two wires in the antagonistic manner and six wires are used to actuate three finger joint. In order to obtain the desirable finger motion, the diameters of the SMA wires are designed with different diameters by considering the required actuating force and response time. The rotary sensors are used to measure the angle positions of the joints and PWM control using PID algorithm is used to achieve desired angle positions of the finger joints. After estimating the control performance of each finger joint for the desired angle position, the antagonistic motion control of the finger model is experimentally evaluated.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.75-87
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• 1998

KARES (KAIST Rehabilitation Engineering System) is the rehabilitation robot system in the type of the 6 degrees of freedom robot arm mounted on the wheelchair, in order to assist the independent livelihood of the disabled and the elderly. The interface device for programming and controlling of the robot arm is essential in the rehabilitation robotic system. Specially, in the case of the manual operation of the robot arm, the user has the burden of cognition and the difficulty for the operation of the robot arm. As a remedy, color vision system for the autonomous performance of jobs is proposed, and four basic desired jobs are specified. By mounting the camera in eye-in-hand type, color vision system for KARES is set up. The desired jobs for picking up the target and moving it to the user's face for drinking are successfully performed in real-time at the indoor environment.

• Smart Structures and Systems
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• v.18 no.1
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• pp.139-154
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• 2016

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.15-20
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• 2016

The existing multiple modulus-based self-recovering equalization type has not been applied to initial equalization. Instead, it was used for steady-state performance improvement. In this paper, for the self-recovering equalization type that considers the multiple modulus as a desired response, the initial convergence performance was improved by extending the dynamics of the errors using error boosting and their characteristics were analyzed. Error boosting in the proposed method was carried out in proportion to a symbol decision for the equalizer output. Furthermore, having the initial convergence capability by extending the dynamics of errors, it showed excellent performance in the initial convergence rate and steady-state error level. In particular, the proposed method can be applied to the entire process of equalization through a single algorithm; the existing methods of switching over or the selection of other operation modes, such as concurrent operating with other algorithms, are not necessary. The usefulness of the proposed method was verified by simulations performed under the channel conditions with multipath propagation and additional noise, and for performance analysis of self-recovering equalization for high-order signal constellations.

• Journal of Drive and Control
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• v.17 no.1
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• pp.51-60
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• 2020

This study addresses the modeling of a bi-directional outlet variable swash plate type axial piston pump with two EPPR valves and an analysis of the response characteristics to the angle control of that pump. In this paper, the combination of the EPPR valve and double rod type piston is referred to as the EPPR regulator. The EPPR regulator is compact and inexpensive, and has good responsiveness. Under actual pump operating conditions, because of the various external conditions of the pump, inertia is applied to the swash plate, generating the tilting torque. Also, the tilting torque can delay or shorten the response characteristics of the regulator. So we validated them through the analysis using SimulationX and these results allow users to freely integrate the EPPR regulator into the desired system.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.127-132
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• 2003

In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.