• 대한기계학회논문집
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• 제18권6호
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.591-596
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• 1999

In this paper, we present a joint quality control system to be able to accurately control the relative picture quality among the video programs in terms of PSNR. The joint quality control system allows variable bit rate (VBR) for each video program to maintain the pre-determined relative picture quality among the aggregated video programs while keeping a constant sum of the bit rates for all programs to be transmitted over a single constant bit rate (CBR) channel. This is achieved by simultaneous controlling the video encoders to generate VBR video streams at the central controller. Furthermore we also suggest buffer regulation method based on the analysis of the constraints imposed by sender/receiver buffer sizes and total transmission rate. Through various simulation results, it is found that our quality control systems guarantee that the video buffers do not overflow and underflow and the quality control errors do not exceed 0.1 ㏈.

• 로봇학회논문지
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• 제2권2호
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• 한국군사과학기술학회지
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• 제10권3호
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 한국정밀공학회지
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• 제14권12호
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• pp.86-94
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• 1997

This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.384-389
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• 2002

This study was aimed to evaluate the weldability and optimize the welding conditions for flash butt welding of 780MPa grade steel applied to the automotive bumper reinforcement. And then the relationship between the welding conditions and the joint performance relating specifically to coil-joining steel would be established. The effect of welding conditions between flashing and upsetting process was elucidated. Microstructure observation of the joint indicated that the decarburized band was mainly changed with upsetting process. Width of HAZ was also related to the upsetting conditions rather than the flashing conditions. Generally maximum hardness at HAZ was correlated with $C_{eq}$ of steel and the empirical relationship was obtained to estimate the HAZ properties. Tensile elongation at the joint was usually decreased with increasing the initial clamping distance. Investigation of fracture surface after tensile and bending tests reveal that the origin of cracking at the joint was oxide inclusions composed of $SiO_2$, MnO, $Al_2$ $O_3$, and/or FeO. The amount of inclusions was dependent on the composition ratio of Mn/Si in steel. If this ratio was above 4, the amount of inclusions was low and then the resistance to cracking at the joint was enough to maintain the joint performance. It was obtained that the flashing process influenced the conditions for the energy input to establish uniform or non-uniform molten layer, while the upsetting conditions influenced the joint strength. Heat input variable during flashing process was also discussed with the joint properties.

• Nuclear Engineering and Technology
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• 제48권5호
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• pp.1162-1173
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• 2016

In this paper, we describe a physicomathematical model of the processes that occur in a sodium circuit with a variable flow cross-section in the case of a water leak into sodium. The application area for this technique includes the possibility of analyzing consequences of this leak as applied to sodium-water steam generators in fast neutron reactors. Hydrodynamic processes that occur in sodium circuits in the event of a water leak are described within the framework of a one-dimensional thermally nonequilibrium three-component gas-liquid flow model (sodium-hydrogen-sodium hydroxide). Consideration is given to the results of a mathematical modeling of experiments involving steam injection into the sodium loop of a circulation test facility. That was done by means of the computer code in which the proposed model had been implemented.

• 응용통계연구
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• 제21권2호
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• pp.301-312
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• 2008

상호정보(mutual information: MI)는 설명변수의 목적변수에 대한 예측정도를 나타내는 척도로서, 목적변수에 대한 설명 변수의 중요도 순위를 구하거나 목적 변수를 잘 설명해주는 설명변수의 집합을 구하는 변수선택문제에 유용하게 사용된다. 본 논문에서는 연속형 설명변수와 범주형 목적변수로 구성된 데이터로부터 결합확률분포를 추정하지 않고도 MI 추정량을 구할 수 있는 Sample-spacing 방법에 대한 연구를 수행하였다. 몬테 칼로 모의 실험과 실제데이터에 대한 실험결과, MI 추정을 위해 Sample-spacing 방법을 사용할 때 m = 1을 사용하면 충분히 신뢰할만한 결과를 얻을 수 있다는 것을 알 수 있었다.

• 로봇학회논문지
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• 제12권4호
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• 대한수학회지
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• 제35권3호
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• pp.691-712
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• 1998

We consider an M$_1$, M$_2$/G/1/ K retrial queueing system with a finite priority queue for type I calls and infinite retrial group for type II calls where blocked type I calls may join the retrial group. These models, for example, can be applied to cellular mobile communication system where handoff calls have higher priority than originating calls. In this paper we apply the supplementary variable method where supplementary variable is the elapsed service time of the call in service. We find the joint generating function of the numbers of calls in the priority queue and the retrial group in closed form and give some performance measures of the system.