• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.8
• /
• pp.92-98
• /
• 1995

The position control of flexible joint manipulator is investigated by applying the self-organizing fuzzy logic controller (SOC) proposed by Procyk and Mamdani. The SOC is a heuristic rule-based controller and a further extension of an ordinary fuzzy controller, which has a hierachy structrue which consists of an algorithm being identical to a fuzzy controller at the lower ollp and a learning algorithm accomodating the performance evalution and rule modification function at the upper ollp. This form of control can be used in those complex systems which have been too difficult to control or which in the past have had to rely on the experience of a human operator. Even though the significant dynamic coupling of the motors and links on the flexible joint manipulator, the performance of command-following is good by applying the proposed SOC.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2007.04a
• /
• pp.315-320
• /
• 2007

An effective reinforcement method for steel tubular joints having a large chord diameter is the use of internal ring stiffeners. This paper presents the results of a numerical study on the static strength of internally ring-stiffened tubular X- and T-joints subjected to brace axial compression loading. Nonlinear finite element analyses are used to compute the joint strength. The influence of geometrical parameters has been studied and the maximum reinforcement effect of a ring stiffener has been evaluated. A strength ratio is defined. by the ratio of ring-stiffened joint strength to unstiffened joint strength, and an equation for this strength ratio is derived by regression analysis. Design optimization for ring stiffener of tubular joints is carried out using metropolis genetic algorithm.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.2 no.6
• /
• pp.57-65
• /
• 1994

A collision-free path planning algorithm between an articulated robot and polyhedral obstacles using configuration space is presented. In configuration space, a robot is treated as a point and obstacles are treated as grown forbidden regions. Hence path planning problem is transformed into moving a point from start position to goal position without entering forbidden regions. For mapping to 3D joint space, slice projection method is used for first revolute joint and inverse kinematics is used for second and third revolute joint considering kinematic characteristics of industrial robot. Also, three projected 2D joint spaces are used in search of collision-free path. A proper example is provided to illustrate the proposed algorithm.

• International Journal of Aeronautical and Space Sciences
• /
• v.17 no.3
• /
• pp.332-340
• /
• 2016

A design optimization is performed for the double-bolted joint in cylindrical composite structures by using a simplified analytical method. This method uses failure criteria for the major failure modes of the bolted composite joint. For the double-bolted joint with a zigzag arrangement, it is necessary to consider an interaction effect between the bolt arrays. This paper proposes another failure mode which is determined by angle and distance between two bolts in different arrays and define a failure criterion for the failure mode. The optimal design for the double-bolted joint is carried out by considering the interactive net-tension failure mode. The genetic algorithm (GA) is adopted to determine the optimized parameters; bolt spacing, edge distance, and stacking sequence of the composite laminate. A purpose of the design optimization is to maximize the burst pressure of the cylindrical structures by ensuring structural integrity. Also, a progressive failure analysis (PFA) is performed to verify the results of the optimal design for the double-bolted joint. In PFA, Hashin 3D failure criterion is used to determine the ply that would fail. A stiffness reduction model is then used to reduce the stiffness of the failed ply for the corresponding failure mode.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.11 no.10
• /
• pp.4680-4697
• /
• 2017

In future, since the user experience plays a more and more important role in the development of today's communication systems, quality of experience (QoE) becomes a widely used metric, which reflects the subjective experience of end users for wireless service. In addition, the energy efficiency is an increasingly important problem with the explosive growth in the amount of wireless terminals and nodes. Hence, a QoE-aware energy efficiency maximization based joint user access selection and power allocation approach is proposed to solve the problem. We transform the joint allocation process to an optimization of energy efficiency by establishing an energy efficiency model, and then the optimization problem is solved by chaotic clone immune algorithm (CCIA). Numerical simulation results indicate that the proposed algorithm can efficiently and reliably improve the QoE and ensure high energy efficiency of networks.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.25 no.6
• /
• pp.522-531
• /
• 2016

In this study, we propose an object identification method for bin-picking developed for industrial robots. We identify the grasp posture and the associated geometric parameters of grasp objects using the joint data of a robotic gripper. Prior to grasp identification, we analyze the grasping motion in a low-dimensional space using principle component analysis (PCA) to reduce the dimensions. We collected the joint data from a human hand to demonstrate the grasp-identification algorithm. For data acquisition of the human grasp data, we conducted additional research on the motion characteristics of a human hand. We explain the method for using the algorithm of grasp identification for bin-picking. Finally, we present a subject for future research using our proposed algorithm of grasp model and identification.

• Journal of Biomedical Engineering Research
• /
• v.30 no.3
• /
• pp.241-246
• /
• 2009

Since inappropriate muscle forces mean that people cannot perform some activities related to roles of the muscle, muscle forces have been considered as an important parameter in clinic. Therefore, many methods have been introduced to estimate muscle forces indirectly. One of the methods is muscle tissue dynamics and it is widely used in commercial softwares including musculoskeletal model, such as SIMM. They, however, need motion data captured from 3-dimensional motion analysis system. In this study, we introduced an algorithm to estimate muscle forces in real-time by using joint angles. The heel-rise movements were performed for a normal with 3-dimensional motion analysis system, EMG measurement system, and electrogoniometers. Joint angles obtained from electrogoniometers and EMG signals were used to estimate muscle forces. Simulation was performed to find muscle forces using motion data which was imported into musculoskeletal software. As the results, muscle lengths and forces from the developed algorithm were similar to those from commercial software in pattern. Results of this study would be helpful to implement a tool to calculate reasonable muscle forces in real-time.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.8 no.11
• /
• pp.1665-1674
• /
• 2013

In this paper, we propose a genetic algorithm(GA) based locomotion method of a quadruped robot with waist joint, which makes a quadruped robot walk on the slop efficiently. In the proposed method, we first derive the kinematic model of a quadruped robot with waist joint and then set the gene and the fitness function for GA. In addition, we determine the best attitude for a quadruped robot and the landing point of a foot in the walk space, which has the optimal energy stability margin(ESM). Finally, we verify the effectiveness of the proposed method by comparing with the performance of the previous method through the computer simulations.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.3A
• /
• pp.247-260
• /
• 2007

This paper solves the problem of finding a suitable sub-channel and power joint allocation method for multiple users in 802.16e OFDMA/TDD cellular systems. The joint allocation is thatfirstly the sub-channel is allocated to the users and then suitable power is allocated. We propose a FASA (Fairness insured Aggressive Sub-channel Allocation) algorithm which is a dynamic channel allocation algorithm considering all users' channel state information conditionally to maximize fairness and throughput. The improved CHC algorithm, which is dynamic power allocation algorithm, is also proposed in this paper The Improved CHC algorithm collects the extra of the downlink transmit power and then re-allocates it to other users. Simulation results show that the proposed improved CHC algorithm additionally increases the fairness and sector throughput.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.11
• /
• pp.3398-3407
• /
• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.