• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.162-167
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• 1991

The manipulability ellipsoid and the force ellipsoid for a single robot are extended to the case of a multi-robot system. The force ellipsoid is applied to solve the optimal load distribution for the multi-robot system. Two cases are considered in solving the optimal load distribution. In one case, there are no constraints on the joint torques, and the analytic solution ;a given. In the other case, the torque constraints are given in terms of the maximum power consumption, and the algorithm for the solution is proposed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.1
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• pp.1-3
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• 2009

Recently, Carlsson, Full\acute{e}$r and Majlender [1] presented the concept of possibilitic correlation representing an average degree of interaction between marginal distribution of a joint possibility distribution as compared to their respective dispersions. They also formulated the weak and strong forms of the possibilistic Cauchy-Schwarz inequality. In this paper, we define a new probability measure. Then the weak and strong forms of the Cauchy-Schwarz inequality are immediate consequence of probabilistic Cauchy-Schwarz inequality with respect to the new probability measure.

• Journal of the Korean Statistical Society
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• v.26 no.2
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• pp.155-170
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• 1997

We propose an integer-valued MA(q) process with Poisson disturbance. Its various properties are discussed such as the joint distribution, time reversibility and regression. We derive the asymptotic distribution of autocovariance function and estimators of the parameters in the suggested model. We also consider the relationship between INMA(q) and M/D/.infty. processes.

• Journal of the Korean Data and Information Science Society
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• v.22 no.2
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• pp.361-369
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• 2011

In this paper, we develop the reference and the matching priors for the reliability function of two-parameter exponential distribution. We derive the reference priors and the matching prior, and prove the propriety of joint posterior distribution under the general prior including the reference priors and the matching prior. Through the sim-ulation study, we show that the proposed reference priors match the target coverage probabilities in a frequentist sense.

• Journal of Welding and Joining
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• v.21 no.4
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• pp.69-74
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• 2003

The mechanical properties of STD11 Joints by using TLP (Transient Liquid Phase Diffusion) bonding method employing MBF-30 and MBF-80 insert metals were investigated with concerning to the microstructural change. TLP bonding of STD 11 was carried out at 1323∼1423K for 0.6ks∼3.6ks in vacuum. The microstructure and the element distribution of the interlayer between tool steels and insert metals showed specific feature with bonding conditions. It was found that the width of the interlayer increased at initial bonding stage. However, the width of interlayer showed nearly constant value during the isothermal solidification. After isothermal solidification was completed, the joint showed homogeneous element distribution and similar microstructure with base metal because of the grain boundary migration to the bonded interlayer. The bonding strength measured by a tensile test has been varied with the bonding conditions. The maximum joint strength, 760MPa, was obtained with the condition of 1423K for 1.2ks using MBF30 insert metal in this experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• Structural Engineering and Mechanics
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• v.53 no.5
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• pp.1017-1030
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• 2015

In this study, the finite element method was used to analyze the distribution of the adhesive shear stresses in the single-lap bonded joint of two plates 2024-T3 aluminum with and without defects. The effects of the adhesive properties (shear modulus, the thickness and the length of the adhesive were highlighted. The results prove that the shear stresses are located on the free edges of the adhesively bonding region, and reach maximum values near the defect, because the concentration of high stress occurs near this area.

• Proceedings of the KWS Conference
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• 2006.10a
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• pp.29-31
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• 2006

Stainless steel sheets are widely used as the structural material for the railroad cars and the commercial vehicles. These kinds structures used stainless steel sheets are commonly fabricated by using the gas welding. For fatigue design of gas welded joints such as fillet and plug type joint, it is necessary to obtain design information on stress distribution at the weldment as well as fatigue strength of gas welded joints. And also, the influence of the geometrical parameters of gas welded joints on stress distribution and fatigue strength must be evaluated. the ${\Delta}P-N_f$ curves were obtained by fatigue tests. Using these results, ${\Delta}P-N_f$ curves were rearranged in the ${\sigma}-N_f$ relation with the maximum stress at the edge of fillet welded joint.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.500-502
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• 2002

Receltly, Underground transmission system is getting increased. Therefore the design of grounding system becomes very important to discharge overcurrent of lightning and fault through earth and reduce sheath induced voltage and sheath circulation current. This paper describes fault current distribution ratio for grounding line with grounding types of normal joint box and sheath grounding resistor at line-to-ground fault of cable.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.337-342
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• 1992

The load distribution problem of two cooperating robots grasping one object is studied. The optimal joint torque needed for the desired motion is obtained by using a new objective function. A new objective function is defined for the minimization of joint torque effort and internal force. The optimal solution can be found by geometrical approach and analysis using the concept of force ellipsoid. Simulation results are presented with 6DOF PUMA robots.