• 대한기계학회논문집A
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• 제20권10호
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• pp.3058-3067
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• 1996

With increasing use of ceramics/metal bonded joints, It is required to analyze the residual stress distribution and stress singularity at an interface edge for its bonded joints. In this paper, the residual stress distribution and stress singularity index of the ceramics/metal bonded joints were analyzed by using 2-dimensional elastic boundary element method. The variations of residual stress distribution and stress singularity index are studied with changes for the combinations of ceramics/metal bodned joints.

• 한국생산제조학회지
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• 제8권1호
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• pp.35-44
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• 1999

In a view point of earth environmental protection and social requirement, adhesively bonded structures of aluminum alloys have become to be employed for the purpose of decreasing fuel ratio by weight reduction and to improve performance in various engineering fields such as aircrafts, automobiles, rolling stocks and so on. In spite of such wide applications in adhesively bonded structures of aluminum alloys, the quantitative fracture criterion and evolution method of its bonded strength have not been established yet. The objective of this paper is to establish fracture criterion considering stress singularity at interface edges in adhesively bonded structures of aluminum alloys. Through the analyses of boundary element method and static fracture experiments with three different types of specimens in the adhesively bonded joints of aluminum alloys, its fracture criterion was proposed and discussed about strength evolution of adhesively bonded structures.

• 대한기계학회논문집A
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• 제28권1호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.427-427
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• 2000

In this study, singularity of two types of mobile robots for various input joints are investigated: One is the mobile robot with three caster wheels and the other is the mobile robot with two conventional wheels and one caster wheel. Kinematic models are derived via the transfer method of generalized coordinates. Then, determinants of the Jacobian of the mobile robots are used to identify the singularity configurations.

• 한국마이크로전자및패키징학회:학술대회논문집
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• 한국마이크로전자및패키징학회 2002년도 추계기술심포지움논문집
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• pp.137-142
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• 2002

This paper deals with the stress singularity induced at the interface corner between the elastic substrate and the viscoelastic thin film as the polymeric film absorbs moisture from the ambient environment. The boundary element method is employed to investigate the behavior of Interface stresses. The order of the singularity is obtained numerically for a given viscoelastic model. It is shown that the stress singularity factor is relaxed with time, while the order of the singularity increases with time for the viscoelastic model considered.

• 대한기계학회논문집A
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• 제24권3호
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• pp.685-690
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• 2000

This paper deals with the stress singularity induced at the interface corner between the viscoelastic thin film and the rigid substrate as the film absorbs moisture from the ambient environment. Th e time domain boundary element method is employed to investigate the behavior of interface stresses. The order of the free-edge singularity is obtained numerically for a given viscoelastic model. It is shown that the stress singularity factor is relaxed with time, while the order of the singularity increases with time for the viscoelastic model considered.

• 로봇학회논문지
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• 제13권2호
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• pp.129-141
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• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 한국항공우주학회지
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• 제42권12호
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• pp.1020-1027
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• 2014

CMG의 특이점 회피를 위한 구동법칙의 설계와 관련된 특이성 지수를 분석하였으며, 지수를 선택하거나 개발할 때 필요한 정성적인 적합성 기준을 제시하였다. 빠른 계산과 조건수와의 일치성을 중요한 기준으로 선정하였으며, 이에 따라 세 가지의 변형된 지수를 제안하였다. 유한지수와 무한지수의 특성을 비교하였고, 가중치를 이용하여 두 가지의 장점을 결합하는 방안을 제시하였다. 컴퓨터 시뮬레이션을 이용하여 제안한 방법을 검증하였다.

• 한국해양공학회지
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• 제17권6호
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• pp.72-76
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• 2003

This paper deals with the stress singularity developed in a polymer layer that is coated to a concrete surface, due to temperature change. The boundary element method is employed to investigate the behavior of interface stresses. The polymeric layer is assumed to be a linear viscoelastic material, and is thermorheologically simple. The order of the singularity is obtained, numerically, for a given viscoelastic model. Numerical results exhibit the relaxation of interface stresses, and large gradients are observed in the vicinity of the free surface. Results show that the stress singularity factor is relaxed with time, while the order of the singularity increases with time for the viscoelastic model.

• 한국자동차공학회논문집
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• 제13권5호
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• pp.104-111
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• 2005

With increasing use of SUH35/SUH3 dissimilar materials for automotive engine valves, it is required that stress singularities under residual stress on an interface for friction welded dissimilar materials analyzed to establish strength evaluation. The stress singularity $index{\lambda}$ and stress singularities $factor{\Gamma}$ were calculated from using the results of stress analysis to consider residual stress and loads. The stress singularities on variations for shapes and thickness of welded flashes were analyzed and discussed. This paper suggested that the strength evaluation by using the stress singularity factors as fracture parameters, considering the stress singularity on an interface edge of friction welded dissimilar materials will be useful.