• 대한인간공학회지
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• 제7권2호
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• pp.31-44
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• 1988

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment then the automatic mode changes into the manual mode. The operation by the control program and the operation by a human recover the error in the manual mode. The system resumes the automatic mode and continues the given task. It is necessary to improve the manual mode in order to make the best use of a man-robot system, as a part of the human interface technique. Therefore, the error recovery task is performed by combining the operation by the control program representing autonomy of a robot and the operation by a human representing versatility of a human operator effectively in the view point of human factors engineering. The geometric inverse kinematics is used for the calculation of the robot joint values in the operation by the control program. The singularity operation error and the parameter operation error often occur in this procedure. These two operation errors increase the movement time of the robot and the coordinate reading time, during the error recovery task. A singularity algorithm, parameter algorithm and fuzzy control are studied so as to remove the disadvantages of geometric inverse kinematics. And the geometric straight line motion is studied so as to improve the disadvantages of the operation by a human.

• 대한의용생체공학회:의공학회지
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• 제37권3호
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Composites Research
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• 제19권4호
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• pp.15-22
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• 2006

구조물 설계에 복합재료-금속 접착제 결합 조인트의 개발 및 사용을 제한하는 가장 큰 요인은 접착 조인트의 하중지지 능력 예측을 위한 접착 계면의 강도 평가 방법의 부재이다. 본 연구에서는 복합재료-탄소강의 접착 강도를 계면 모서리에서의 응력강도계수와 파괴 인성 값으로 평가하였다. 구체적으로 동시 경화 성형법으로 제작된 복합재료-탄소강 양면 겹치기 접착조인트의 하중지지 능력을 파괴 역학적 분석 방법을 통하여 결정하였다. 이종재료 계면 모서리 첨단의 응력 특이성과 그 지수를 제시하고 최종적으로 응력강도계수와 실험을 통한 계면의 파괴인성 값을 획득하였다. 서로 다른 접합 길이를 갖는 조인트의 하중지지 능력 비교를 통하여 양면 겹치기 접착 조인트의 파괴 인성치와 혼합 모드에서의 균열 진전 기준을 $K_1-K_{11}$ 평면 내에 도시하였다.

• 대한기계학회논문집A
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• 제21권9호
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• pp.1357-1363
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• 1997

Currently it is increasing to use th bonded dissimilar materials in the various field of advanced engineering such as the highly rigid and lighter vehicle, plastic molding LSI package and metal/ceramic bonded joint. In spite of such a wide application of the bonded dissimilar materials, the evaluation method of the bonding strength has not been established yet. Therefore in this paper we analyze the interface crack problem by introducing fracture mechanics parameters as the basic research about estimating of the strength of adhesive joints. The variation of stress intensity factor according to the elastic modulus of adherend and thickness of bonded layer are investigated. Numerical results are based on the results of boundary element analysis of four different type butt joints subjected to uniaxial tension loading.

• 한국전산구조공학회논문집
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• 제25권5호
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• pp.439-446
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• 2012

본 논문은 1차원 자유경계문제 해석의 정확도 향상을 위해 이동최소제곱 차분법을 이용하여 이동경계의 위상변화를 implicit하게 추적하는 기법을 제시한다. 기존의 이동최소제곱 차분법은 이동경계의 위치를 explicit하게 진전시켜 반복계산은 필요없지만 해의 정확도 감소를 피할 수 없었다. 그러나 본 연구에서 제시한 implicit 기법은 전체 계방정식이 비선형 시스템이 되어 반복계산 과정이 필요하지만, 실제로 수치예제를 통해 검증해 본 결과 계산량의 큰 증가없이 해석의 정확도를 획기적으로 향상시켰다. 이동하는 미분불연속 특이성을 갖는 융해(melting)문제를 수치계산한 결과, implicit 이동최소제곱 차분법을 통해 2차정확도를 얻을 수 있음을 보였다.

• International Journal of Precision Engineering and Manufacturing
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• 제3권2호
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• pp.33-44
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• 2002

The problem of eigenvalues and eigenvectors is obtained from a v-notched crack in pseudo-isotropic dissimilar materials by the traction free boundary and the perfect bonded conditions at interface. The complex stress function of the two-term William's type is used. The eigenvalues are solved by a commercial numerical program, MATHEMATICA. Stress singularities for v-notched cracks in pseudo-isotropic dissimilar materials are discussed. The RWCIM(Reciprocal Work Contour Integral Method) is applied to the determination of eigenvector coefficients associated with eigenvalues with egenvalues. The RWCIM algorithm is also coded by the MATHEMATICA.

• 한국정밀공학회지
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• 제16권10호
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• pp.152-163
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• 1999

The problem of eigenvalue and eigenvector for v-notched cracks in pseudo-isotropic and anisotropic dissimilar materials was obtained to discuss stress singularities from traction free boundary and perfect bonded interface conditions assuming like the form of complex stress function for v-notched cracks in an isotropic material. Eigenvalues were solved by a commercial numerical program, MATHEMATICA. The relation between wedged angle and material property for eigenvalue, ${\lambda}$ indicating stress singularities of v-notched cracks in pseudo-isotropic and anisotropic dissimilar materials was examined.

• 한국생산제조학회지
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• 제18권4호
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• pp.401-409
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• 2009

This paper presents a method of calculating the stress intensity factor (K) and crack propagation direction (${\theta}_0$) at the crack-tip that is associated with delamination in the large scale integration(LSI) package. To establish a reasonable strength evaluation method and life prediction, it is necessary to assess fracture parameters under various fracture conditions. Therefore, we conducted quantitative stress singularity analysis considering thermal stress simulating the changes of crack length (a), (h) and (v) in delamination using the 2-dimensional elastic boundary element method (BEM), and from these results predicted crack propagation direction and path.

• 한국정밀공학회지
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• 제17권11호
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• pp.129-139
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• 2000

The problem of eigenvalue and eigenvector is obtained from a V-notched crack in pseudo-isotropic dissimilar materials by the traction free boundary and the perfect bonded interface conditions. The complex stress function is assumed as the two-term William's type. The eigenvalue is solved by a commercial numerical program, MATHEMATICA to discuss stress singularities for V-notched cracks in pseudo-isotropic dissimilar materials. The RWCIM(Reciprocal Work Contour Integral Method) is applied to the determination to eigenvector coefficients associated with eigenvalues. The RWCIM algorithm is also coded by the MATHEMATICA.

• Journal of Information Processing Systems
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• 제14권6호
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• pp.1398-1404
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• 2018

High-performance computing (HPC) provides to researchers a powerful ability to resolve problems with intensive computations, such as those in the math and medical fields. When an HPC platform is provided as a service, users may suffer from unexpected obstacles in developing and running applications due to restricted development environments and dependencies. In this context, operating system level virtualization can be a solution for HPC service to ensure lightweight virtualization and consistency in Dev-Ops environments. Therefore, this paper proposes three types of typical HPC structure for container environments built with HPC container and Docker. The three structures focus on smooth integration with existing HPC job framework, message passing interface (MPI). Lastly, the performance of the structures is analyzed with High Performance Linpack benchmark from the aspect of performance degradation in network communications under Docker.