• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.211-218
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• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• Journal of The Korean Astronomical Society
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• v.47 no.3
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• pp.87-98
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• 2014

We develop a parallel cosmological hydrodynamic simulation code designed for the study of formation and evolution of cosmological structures. The gravitational force is calculated using the TreePM method and the hydrodynamics is implemented based on the smoothed particle hydrodynamics. The initial displacement and velocity of simulation particles are calculated according to second-order Lagrangian perturbation theory using the power spectra of dark matter and baryonic matter. The initial background temperature is given by Recfast and the temperature uctuations at the initial particle position are assigned according to the adiabatic model. We use a time-limiter scheme over the individual time steps to capture shock-fronts and to ease the time-step tension between the shock and preshock particles. We also include the astrophysical gas processes of radiative heating/cooling, star formation, metal enrichment, and supernova feedback. We test the code in several standard cases such as one-dimensional Riemann problems, Kelvin-Helmholtz, and Sedov blast wave instability. Star formation on the galactic disk is investigated to check whether the Schmidt-Kennicutt relation is properly recovered. We also study global star formation history at different simulation resolutions and compare them with observations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.9
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• pp.1822-1830
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• 2002

The paper describes the development of a decomposition based multidisciplinary design optimization (MDO) method that coordinates each of disciplinary subspace optimization (DSO). A multidisciplinary design system considered in the present study is decomposed into a number of subspaces based on their own design objective and constraints associated with engineering discipline. The coupled relations among subspaces are identified by interdisciplinary design variables. Each of subsystem level optimization, that is DSO would be performed in parallel, and the system level coordination is determined by the first order optimal sensitivities of subspace objective functions with respect to interdisciplinary design variables. The central of the present work resides on the formulation of system level coordination strategy and its capability in decomposition based MDO. A fluid-structure coupled design problem is explored as a test-bed to support the proposed MDO method.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• Journal of the Korea Institute of Building Construction
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• v.11 no.4
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• pp.379-386
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• 2011

Durability of concrete is an important issue, and one of the most critical aspects affecting durability is chloride diffusivity. Factors such as water.cement ratio, degree of hydration, volume of the aggregates and their particle size distribution have a significant effect on chloride diffusivity in concrete. The use of polypropylene fibers(particularly very fine and well dispersed micro fibers) or mineral additives has been shown to cause a reduction in concrete's permeability. The main objective of this study is to evaluate the manner in which the inclusion of fiber(in terms of volume and size) and blast furnace slag(BFS) (in terms of volume replacement of cement) influence the chloride diffusivity in concrete by applying 3D computer modeling for the composite structure and performing a simulation of the chloride penetration. The modeled parameters, i.e. chloride diffusivity in concrete, are compared to the experimental data obtained in a parallel chloride migration test experiment with the same concrete mixtures. A good agreement of the same order is found between multi.scale microstructure model, and through this chloride diffusivity in concrete was predicted with results similar to those experimentally measured.

• 한국지구물리탐사학회:학술대회논문집
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• 2008.10a
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• pp.113-118
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• 2008

Among the geophysical methods, Ground Penetrating Radar (GPR) and Electrical Resistivity Tomography (ERT) comprise the most promising techniques in resolving buried archaeological structures in urban territories. In this work, two case studies which involve an integrated geophysical survey employing the surface three dimensional (3D) ERT and GPR techniques, in order to archaeologically characterize the investigated areas, are presented. Totally more than 4000 square meters were investigated from the test field sites, which are located at the centre of two of the most populated cities of the island of Crete, in Greece. The ERT and the GPR data were collected along dense and parallel profiles. The subsurface resistivity structure was reconstructed by processing the apparent resistivity data with a 3D inversion algorithm. The GPR sections were processed with a systematic way applying specific filters to the data in order to enhance their information context. Finally, horizontal depth slices representing the 3D variation of the physical properties were created and the geophysical anomalies were interpreted in terms of possible archaeological structures. The subsequent excavations in one of the sites verified the geophysical results, enhancing the applicability of ERT and GPR techniques in the archaeological exploration of urban territories.

• Journal of Microbiology and Biotechnology
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• v.22 no.2
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• pp.159-165
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• 2012

The rhizobacterial composition varies according to the soil properties. To test if the effect of herbicides on the rhizobacterial communities of genetically modified NK603 glyphosate-tolerant maize varies according to different soil locations, a comparison was made between the effects of glyphosate (Roundup Plus), a post-emergence applied herbicide, and a pre-emergence applied herbicide (GTZ) versus untreated soil. The potential effect was monitored by direct amplification, cloning, and sequencing of the soil DNA encoding 16S rRNA, and high-throughput DNA pyrosequencing of the bacterial DNA coding for the 16S rRNA hypervariable V6 region. The results obtained using three different methods to analyze the herbicide effect on the rhizobacterial communities of genetically modified NK603 maize were comparable to those previously obtained when glyphosate-tolerant maize was grown in soil with different characteristics. Both herbicides decreased the bacterial diversity in the rhizosphere, with Actinobacteria being the taxonomic group most affected. The results suggest that both herbicides affected the structure of the maize rhizobacterial community, but glyphosate was environmentally less aggressive.

• Korean Journal of Food Science and Technology
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• v.18 no.3
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• pp.215-220
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• 1986

Mechanical properties of 9-30% starch gels from naked and covered barley were investigated with rheometer or rotation viscosimeter. The compression-penetration curves of 20 and 30% gels were characterized by deformations containing elastic, plastic and fracture regions under the load of 0-2kg. The compressive stress relaxation test showed that the viscoelastic properties of 20% gels may be represented by four element Maxwell model consisting of two Maxwell element in parallel. Also, stress-decay under the steady shear of 9% covered starch gel was able to be interpreted by linear viscoelastic model and stress-decay process was suggested to be effective to investigate the effect of temperature or additives on gel structure.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.9
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• pp.4587-4605
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• 2019

High Efficiency Video Coding (HEVC) suffers from high computational complexity due to its quad-tree structure in motion estimation (ME). This paper exposes an adaptive search range decision algorithm for accelerating HEVC integer-pel ME on GPU which estimates the optimal search range (SR) using a MAP (Maximum A Posteriori) estimator. There are three main contributions; First, we define the motion feature as the standard deviation of motion vector difference values in a CTU. Second, a MAP estimator is proposed, which theoretically estimates the motion feature of the current CTU using the motion feature of a temporally adjacent CTU and its SR without any data dependency. Thus, the SR for the current CTU is parallelly determined. Finally, the values of the prior distribution and the likelihood for each discretized motion feature are computed in advance and stored at a look-up table to further save the computational complexity. Experimental results show in conventional HEVC test sequences that the proposed algorithm can achieves high average time reductions without any subjective quality loss as well as with little BD-bitrate increase.