• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.42-54
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• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.10
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• pp.1231-1237
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• 2004

Determination of geometric design parameters of a second-throat type annual supersonic ejector is described. Tested geometric parameters were primary nozzle area ratio, cross-sectional area of second-throat, L/D ratio of second-throat and primary flow injection angle. Varying these four geometric parameters, we build a test matrix made of 81 test conditions, and experimental apparatus was fabricated to accommodate them. For each test condition, the stagnation pressure of primary flow and the static pressure of the secondary flow were measured simultaneously along with their transition to steady operation and finally to unstarting condition. Comparing the performance curve of every case focused on starting pressure, the unstarting pressure and the minimum secondary pressure, we could derive correlations that the parameters have on the performance of the ejector and presented the optimal design method of the ejector. Additional experiments were carried out to find effects of temperature and mass flow rate of the secondary flow.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.4
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• pp.504-513
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• 1999

Usually bellows are designed for the purpose of absorbing axial movement. To find out axial stiffness of bellows the axisymmetric shell theory using the finite element method is adopted in this paper. Bellows can be idealised by series of conical frustum-shaped elements because it is axisymmetric shell structure. The force required to deflect bellows axilly is a function of the dimensions of the bellows and the materials from which they are made. The displancements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to r-z cylinderical coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculate the another increments of nodal dis-placements that is the step by method is used in this paper. spring constant is analyzed according to the changing geometric factors of u-shaped bellows. The FEM results were agreed with experiment. Using developed FORTRAN PROGRAM spring constant can be predicted by input of a few factors.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.5
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• pp.702-710
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• 1999

U-shaped bellows are usually used to piping system pressure sensor and controller for refriger-ator. Bellows subjected to internal pressure are designed for the purpose of absorbing deformation. Internal pressure on the convolution sidewall and end collar will be applied to an axial load tend-ing to push the collar away from the convolutions. To find out deformation behavior of bellow sub-jected to internal pressure the axisymmetric shell theory using the finite element method is adopted in this paper. U-shaped bellows can be idealized by series of conical frustum-shaped ele-ments because it is axisymmetric shell structure. The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displace-ments are added to r-z cylindrical coordinates of nodal points. The new stiffness matrix of the sys-tem using the new coordinates of nodal points is adopted to calculate the another increments of nodal displacement that is the step by step method is used in this paper. The force required to deflect bellows axially is a function of the dimensions of the bellows and the materials from which they are made. Spring constant is analyzed according to the changing geometric factors of U-shaped bellows. The FEM results were agreed with experiment. Using developed FORTRAN PROGRAM the internal pressure vs. deflection characteristics of a particu-lar bellows can be predicted by input of a few factors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1518-1525
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• 2006

Finite element analyses of structures made of the fiber reinforced composites require an adequate method to characterize the high anisotropic behavior induced by one or several layers of fiber cords with different spatial orientation embedded in a rubber matrix. This paper newly proposes a continuum based rebar element considering change of the orientation of the fiber during deformation of the composite. The mechanical behavior of the embedded fiber is modeled using two-node bar elements in order to consider the relative deformation and spatial orientation of the embedded fiber. For improvement of the analysis accuracy, the load-displacement curve of fiber is applied to the stiffness matrix of fiber. A finite element program is constructed based on the total Lagrangian formulation considering both geometric and material nonlinearity. Finite element analyses of the tensile test are carried out in order to evaluate the validity of the proposed method. Analysis results obtained with the proposed method provides realistic representation of the fiber reinforced rubber composite compared to results of other two models by the Halpin-Tsai equation and a rebar element in ABAQUS/Standard.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.330-336
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• 2005

This paper presents a method to analyze the vibration of a flexible spinning disk-spindle system with FDBs, flexible base structure and an actuator in a HDD by using the FEM. Finite element equations of each component of a HDD spindle system from the spinning flexible disk to the flexible base plate are consistently derived by satisfying the geometric compatibility in the internal boundary between each component. A global matrix equation obtained by assembling the finite element equations of each substructure is transformed to a state-space matrix-vector equation, and both damped natural frequencies and modal damping ratios are calculated by using the restarted Arnoldi iteration method. The validity of the proposed method is verified by comparing the simulated natural frequencies, mode shapes with the experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2899-2908
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• 2000

Methodology of volumetric error identification is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geometric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. The proposed method can speed up and simplify volumetric error identification processes.

• Journal of Korea Society of Industrial Information Systems
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• v.12 no.4
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• pp.107-118
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• 2007

A single-server queueing model with infinite buffer and batch arrival of customers is considered. In contrast to the standard batch arrival when a whole batch arrives into the system at one epoch, we assume that the customers of an accepted batch arrive one-by one in exponentially distributed times. Service time is exponentially distributed. Flow of batches is the stationary Poisson arrival process. Batch size distribution is geometric. The number of batches, which can be admitted into the system simultaneously, is subject of control. Analysis of the joint distribution of the number batches and customers in the system and sojourn time distribution is implemented by means of the matrix technique and method of catastrophes. Effect of control on the main performance measures of the system is demonstrated numerically.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.2
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• pp.21-27
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• 1991

This paper outlines the method of formulating the bi-cubic B-spline surface of ship hull, employing the open uniform knot vector as well as the periodic uniform knot vector. An appropriate set of B-spline control vertices to generate the B-spline surface is determined by obtaining the pseudoinverse matrix of basis functions. The comparison between the given offsets and the resulting coordinates from the generated ship hull surface shows a good agreement. To check the fairness of the surface Gaussian curvature is calculated on many small subpatches and displayed on the black-and-white plot of the isoparametric net of the surface.

• Journal of the Korean Operations Research and Management Science Society
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• v.23 no.3
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• pp.153-168
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• 1998

In this study we consider a CONWIP system in which the processing times at each station follow an exponential distribution and the demands for the finished Products arrive according to a compound Poisson process. The demands that are not satisfied instantaneously are assumed to be backordered. For this system we develop an approximation method to obtain the performance measures such as steady state probabilities of the number of parts at each station, the proportion of backordered demands, the average number of backordered demands and the mean waiting time of a backordered demand. For the analysis of the proposed CONWIP system, we model the CONWIP system as a closed queueing network with a synchronization station and analyze the closed queueing network using a product form approximation method. A matrix geometric method is used to solve the subnetwork in the application of the product-form approximation method. To test the accuracy of the approximation method, the results obtained from the approximation method were compared with those obtained by simulation. Comparisons with simulation have shown that the approximate method provides fairly good results.