• Structural Engineering and Mechanics
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• v.11 no.5
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• pp.565-574
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• 2001

Experimental investigation into the behaviour of half-scale brick masonry panels were conducted under cyclic loading normal to the bed joint and parallel to the bed joint. For each cycle, full reloading was performed with the cycle peaks coinciding approximately with the envelope curve. Unloading, however, was carried out fully to zero stress level and partially to two different stress levels of 25 percent and 50 percent of peak stress. Stability point limit exhibits a unique stress-strain curve for full unloading but it could not be established for partial unloading. Common point limit was established for all unloading-reloading patterns considered, but its location depends on the stress level at which unloading is carried to. Common point curves were found to follow an exponential formula, while residual strains versus envelope strains can be expressed by a polynomial function of a single term. The relation between residual strain and envelope strain can be used to determine the stress level at which deterioration due to cyclic loading began.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1549-1552
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• 1997

In this paper, a optimal algorithm that can produce the FOV is proposed in terms of using the Kohonen's Self-Organizing Map(KSOM). A FOV, that stands for "Field Of View", means maximum area where a camera could be wholly seen and influences the total time of inspection of vision system. Therefore, we draw algorithm with a KSOM which aims to map an input space of N-dimensions into a one-or two-dimensional lattice of output layer neurons in order to optimize the number and location of FOV, instead of former sequentila method. Then, we show demonstratin through computer simulation using the real PCB data. PCB data.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1285-1288
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• 1997

The basic technology of virtual reality can be described as the cognition of the condition change in virtual world by stimulating the visual, auditory, kinesthetic and tactile sensation. Among these, the kinesthetic and tactile sensation is one of the most important things to recognize the interaction. In this paper, it is addressed the haptic device which help the human feel the sense of the operator, and is designed in modular type to expand for five fingers later. the haptic device is driven by tendon and ultrasonic motors located in the wrist part. Each joint is actuated by coupled tendons and adopts more actrator by one than the number of the joints, called 'N+1 type'. The haptic device adopts metamorphic 4-bar linkage structure and the length of linkages, shape and the location of joint displacement sensor are optimized through the analysis.

• Journal of Welding and Joining
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• v.14 no.6
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• pp.37-47
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• 1996

An ultrasonic testing uses the directivity of the ultrasonic wave which propagates in one direction. The directivity is expressed as the relationship between the propagate direction and its sound pressure. The directivity of ultrasonic wave is related to determination of testing sensitivity, scanning pitch and defect location. This paper investigated the directivity of ultrasonic wave, which scattered from slit defect located in heat-affected zone (HAZ) in butt joint using visualization method. The directivity of shear waves scattered from slit defect were different according to probe direction (far defect, near defect) and probe position (forward movement, maximum echo position, backward movement). The difference of directivity of reflection wave was existed between 2 MHz and 4 MHz angle probes. In the case of 2 MHz angle probe, the directivity of reflection wave was appeared sharp form because of the relation wave length and defect size.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1173-1177
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• 1990

Cerebellar Model Linear Associator Net(CMLAN), a kind of neuro-net based adaptive control function generator, was applied to the problem of direct inverse calibration of three and six d.o.f. POMA 560 robot. Since CMLAN autonomously maps and generalizes a desired system function via learning on the sampled input/output pair nodes, CMLAN allows no knowledge in system modeling and other error sources. The CMLAN based direct inverse calibration avoids the complex procedure of identifying various system parameters such as geometric(kinematic) or nongeometric(dynamic) ones and generates the corresponding desired compensated joint commands directly to each joint for given target commands in the world coordinate. The generated net outputs automatically handles the effect of unknown system parameters and dynamic error sources. On-line sequential learning on the prespecified sampled nodes requires only the measurement of the corresponding tool tip locations for three d.o.f. manipulator but location and orientation for six d.o.f. manipulator. The proposed calibration procedure can be applied to any robot.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.419-424
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• 1986

A technique is developed which allows a designer to interactively create an assembly of components by specifying mating contions between the individual components. Once establishing the relationships between components via the mating conditions, each component's location and orientation in the final assembly is computed. The joint information for a kinematic and dynamic analysis can be derived from the mating conditions, therefore this work may be extended to incorporate this analysis. Thorugh this development it will no longer be necessary for a designer to specify cumbersome and error prone transformation matrices in order to create an assembly. The designer also will be able to perform a kinematic or a dynamic analysis directly from an assembly model if the joint information can be automatically derived.

• Journal of KSNVE
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• v.9 no.1
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• pp.149-162
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• 1999

A method for the analysis of free vibrations of steel and plain weave composite cylindrical shells with a longitudinal, interior rectangular plate is developed by using the receptance method. This method is based on the ratio of a deflection (or slope) response to a harmonic force(or moment) at the joint. In this study, after getting the free vibration characteristics of the simply supported plate and shell, the frequency equation of the combined system is obtained by considering the continuity condition at the joint between the plate and the shell. The numerical results are compared with published results and experiment results in order to show the validate of the formulation, and shown that the analytical results agreed with those from other methods. The effects of the location and the thickness of the plate on the natural frequencies are also investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.919-926
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• 2010

This paper proposes a wearable hand rehabilitation device, DULEX, for persons with functional paralysis of upper-limbs after stoke. DULEX has three degrees of freedom for rehabilitation exercises for wrist and fingers except the thumb. The main function of DULEX is to extend the range of motions of finger and wrist being contracture. DULEX is designed by using a parallel mechanism, and its parameters such as length and location of links are determined by kinematic analysis. The motion trajectory of the designed DULEX is aligned to human hand to prevent a slip. To reduce total weight of DULEX, artificial air muscles are used for actuating each joint motion. In feedback control, each joint angle is indirectly estimated from the relations of the input air pressure and the output muscle length. Experimental results show that DULEX is feasible in hand rehabilitation for stroke survivals.