• Bulletin of the Korean Mathematical Society
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• v.54 no.5
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• pp.1471-1483
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• 2017

We classify three-dimensional non-normal semi-terminal singularities.

• Journal of the Korean Mathematical Society
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• v.46 no.1
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• pp.125-150
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• 2009

We analytically construct the versal deformation space of resolution of normal isolated singularities based on the formalism in [9].

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.155-156
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• 2007

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1587-1592
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• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.135-145
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• 1996

Order of stress singularities at bonded Edge Corners with two or three dissimilar isotropic Materials is analyzed. The problem is formulated by Mellin transform and characteristic equation is obtained as a determinant of matrix considering boundary conditions. Roots of characterictic equation are determinde by numerical calculations with ward method, from which the order of stress sigularities is obtained. Applying the results to the electronic packaging, the order of stress singularities is obtained. Applying the results to the electronic packaging, the order of stress singularities at bounded edge corners is calculated as a various bouned edge angle with given material combinations. Comparing the results, the optimal material combinaitons of bounded edge corners and bouned edge angle to reduce stress singularity could be determined. It suggests that the results are used to the basic design of electronic packaging reducing the stress singularity.

• Journal of Korean Society of Steel Construction
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• v.12 no.4 s.47
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• pp.363-374
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• 2000

An accurate method is presented for vibrations of rhombic plates having three different combinations of clamped, simply supported, and free edge conditions. A specific feature here is that the analysis explicitly considers the moment singularities that occur in the two opposite corners having obtuse angles of the rhombic plates. Stationary conditions of single-field Lagrangian functional are derived using the Ritz method. Convergence studies of frequencies show that the corner functions accelerate the convergence rate of solutions. In this paper, accurate frequencies and normalized contours of the vibratory transverse displacement are presented for highly skewed rhombic plates, so that a significant effect of corner stress singularities nay be understood.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.6
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• pp.782-786
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• 2010

Thrust deduction related to the prediction of power performance of a ship is rather resistance increase, and as a preliminary study for it forces upon a circular cylinder in a uniform flow of ideal fluid due to singularities located behind it are investigated. The circle theorem is used to get the complex velocity potential for the flow field under consideration, and the Blasius theorem is applied to obtain forces upon the circular cylinder. As singularities sinks, point vortices and dipoles and their combinations are treated. $\varepsilon$, standing for the strength of a singularity, and $\delta$, representing the distance between the cylinder and the singularity, are important small parameters for the resistance and lateral forces. For sinks or point vortices it is shown that the dimensionless forces upon the cylinder is O($\epsilon$) if $\epsilon$= O($\delta$) is assumed, and the same holds for dipoles if $\epsilon$= O(${\delta}^3$) is supposed. Forces upon the cylinder by a symmetric pair of sinks are greater than a single sink located at the central plane since there is an additional term due to cross effects, and the same is also valid for the case of dipole. Combination of dipole and a point vortex is also considered and a few new aspects are clarified.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.4
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• pp.336-343
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• 2004

This paper reports the first known free vibration data for thin rectangular plates with V-notches. The classical Ritz method is employed with two sets of admissible functions assumed for the transverse vibratory displacements. These sets include (1) mathematically complete algebraic-trigonometric polynomials which guarantee convergence to exact frequencies as sufficient terms are retained, and (2) corner functions which account for the bending moment singularities at the sharp reentrant corner of the Y-notch. Extensive convergence studies summarized herein confirm that the corner functions substantially enhance the convergence and accuracy of nondirectional frequencies for rectangular plates having the V-notch. In this paper, accurate frequencies and normalized contours of vibratory transverse displacement are presented for various notched plates, so that the effect of corner stress singularities may be understood.

• Journal of Korean Society of Steel Construction
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• v.10 no.4 s.37
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• pp.601-613
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• 1998

This paper reports the first-of-its-kind free vibration solutions for sectorial plates having re-entrant corners causing stress singularities when the circular edge is either clamped or simply supported. The Ritz method is employed with two sets of admissible functions assumed for the transverse vibratory displacements. Accurate frequencies and normalized contours of the transverse vibratory displacement are presented for the spectra of sector angles.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.100-108
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• 2004

In this paper, the new casing oscillator, which is a construction machine and which structure is similar to that of a parallel manipulator with redundancy, is proposed. The singularity analysis of this machine is performed by two different methods. First, the singularities are found by the numerical method at configurations where the rank of the Jacobian matrix becomes deficient. The singularities are outside the workspace. To investigate the physical information on these configurations, the singularities are examined by the geometric method at configurations where the casing oscillator cannot resist the external forces and moments applied to the upper platform due to losing static equilibrium. The results of the geometric method are the same as those of the numerical method. It proves that the new casing oscillator is free from the singularity, which causes serious problems to a parallel manipulator.