• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.206-216
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• 2017

This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination ($R^2$) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the $R^2$ values with respect to the wrist flexion-extension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.

• Smart Structures and Systems
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• v.11 no.1
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• pp.53-67
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• 2013

In this paper we apply Monte Carlo Filter to identifying dynamic parameters of structural systems and improve the efficiency of this algorithm. The algorithms using Monte Carlo Filter so far has not been practical to apply to structural identification for large scale structural systems because computation time increases exponentially as the degrees of freedom of the system increase. To overcome this problem, we developed a method being able to reduce number of particles which express possible structural response state vector. In MCF there are two steps which are the prediction and filtering processes. The idea is very simple. The prediction process remains intact but the filtering process is conducted at each node of structural system in the proposed method. We named this algorithm as relaxation Monte Carlo Filter (RMCF) and demonstrate its efficiency to identify large degree of freedom systems. Moreover to increase searching field and speed up convergence time of structural parameters we proposed an algorithm combining the Genetic Algorithm with RMCF and named GARMCF. Using shaking table test data of a model structure we also demonstrate the efficiency of proposed algorithm.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.8
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• pp.81-87
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• 2020

A stable rotational-to-linear motion transformation structure using a driving mechanism with 2 degrees of freedom was developed for an orthogonal mechanism to prevent the interference of each axis in 2D motion. In this mechanism, a step motor was used for precise position control. This structure was developed to maneuver workparts in micro particle blast machining experiments. To determine the real-time performance of micro particle blast machining, the control, input, and output were operated simultaneously and precise position control was implemented, using a timer interrupt with multiple execution codes. The two step motors obtained precise position control by removing backlash with a ball-screw mechanism. The device has menu-type control codes for user-friendliness, and real-time sequence control was simultaneously adopted for user control input.

• The Mathematical Education
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• v.45 no.2 s.113
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• pp.145-154
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• 2006

The main purpose of this study is to investigate the effect of departures from normality and equal variance on the two-sample test when the variances are unknown. We have found that type I error brought about a little bit change which is ignorable in relation to kurtosis. But the change of type I error was mainly based on the skewness of the parent population. In introductory statistics classes where data analysis includes techniques for detecting skewness of two populations, we recommend the two-sample t-test when maximal skewness of two populations is smalter than the value 4 when the variances seem equal. Furthermore, our simulations reveal that the two-sample t-test appears somewhat more robust than that of z-test if the assumption of equal variance is satisfied. In the case of unequal variance, the two-sample t-test appears somewhat more robust provided the t-statistic using Satterthwaite's approximate degrees of freedom.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.3
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• pp.203-211
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• 2013

This paper presents the implementation and control of two arms of an indoor service robot for floor tasks. The robot arms are designed to have 6 degrees-of-freedom (DOF), but actually built to have 5 DOF. Forward and inverse kinematics of two arms are analyzed and simulated to confirm the kinematic analysis. Two arms are actually controlled based on the inverse kinematics. The right and left arms are separately controlled to follow different trajectories in order to make sure the functionality of both arms. Experimental studies are conducted to confirm the kinematic analysis and proper operation of two arms.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.445-454
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• 1991

In this thesis, Mindlin plate element with nine nodes and three degrees-of-freedom at each node is formulated and is employed in eigen-analysis of a rectangular plates in order to alleviate locking phenomenon of eigenvalues. Eigenvalues and their modes may be locked if conventional $C_{0}$-isoparametric element is used. In order to reduce stiffness locking phenomenon, two methods (1, the general reduced and selective integration, 2, the new element that use of modified shape function) are studied. Additionally in order to reduce the error due to mass matrix, two mass matrixes (1, Gauss-Legendre mass matrix, 2, Gauss-Lobatto mass matrix) are considered. The results of eigen-analysis for two models (the square plate with all edges simply-supported and all edges built-in), computed by two methods for stiffness matrix and by two mass matrixes are compared with theoretical solutions and conventional numerical solutions. These comparisons show that the performance of the two methods with Gauss-Lobatto mass matrix is better than that of the conventional plate element. But, by considering the spurious rigid body motions, the element which employs modified shape function with full integration and Gauss-Lobatto mass matrix can elevate the accuracy and convergence of numerical solutions.

• Structural Engineering and Mechanics
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• v.14 no.1
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• pp.99-118
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• 2002

The scaled-boundary finite element method is a novel semi-analytical technique, combining the advantages of the finite element and the boundary element methods with unique properties of its own. The method works by weakening the governing differential equations in one coordinate direction through the introduction of shape functions, then solving the weakened equations analytically in the other (radial) coordinate direction. These coordinate directions are defined by the geometry of the domain and a scaling centre. This paper presents a general development of the scaled boundary finite-element method for two-dimensional problems where two boundaries of the solution domain are similar. Unlike three-dimensional and axisymmetric problems of the same type, the use of logarithmic solutions of the weakened differential equations is found to be necessary. The accuracy and efficiency of the procedure is demonstrated through two examples. The first of these examples uses the standard finite element method to provide a comparable solution, while the second combines both solution techniques in a single analysis. One significant application of the new technique is the generation of transition super-elements requiring few degrees of freedom that can connect two regions of vastly different levels of discretisation.

• Structural Engineering and Mechanics
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• v.13 no.5
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• pp.465-478
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• 2002

This study lays emphasis on the development of efficient analytical models for a multistory structure with wings, including the in-plane deformation of floor slabs. For this purpose, a multistory structure with wings is regarded as the combination of multistory structures with rectangular plan and their junctions. In addition, a multistory structure with a rectangular plan is considered to be an assemblage of two-dimensional frames and floor slabs connecting two adjacent frames at each floor level. This modeling, concept can be easily applied to multistory structures with plans in the shape of L, T, Y, U, H, etc. To represent the in-plane deformation of floor slabs efficiently, a two-dimensional frame and the floor slab connecting two adjacent frames at each floor level are modeled as a stick model with two degrees of freedom per floor and a stiff beam with shear deformations, respectively. Three models are used to investigate the effect of in-plane deformation of the floor slab at the junction of wings on the seismic behavior of structures. Based on the comparison of dynamic analysis results obtained using the proposed models and three-dimensional finite element models, it could be concluded that the proposed models can be used as an efficient tool for an approximate analysis of a multistory structure with wings.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• Structural Engineering and Mechanics
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• v.26 no.4
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• pp.459-477
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• 2007

A bi-directional tuned mass damper (BTMD) in which a mass connected by two translational springs and two viscous dampers in two orthogonal directions has been introduced to control coupled lateral and torsional vibrations of asymmetric building. An efficient control strategy has been presented in this context to control displacements as well as acceleration responses of asymmetric buildings having asymmetry in both plan and elevation. The building is idealized as a simplified 3D model with two translational and a rotational degrees of freedom for each floor. The principles of rigid body transformation have been incorporated to account for eccentricity between center of mass and center of rigidity. The effective and robust design of BTMD for controlling the vibrations in structures has been presented. The redundancy of optimum design has been checked. Non dominated sorting genetic algorithm (NSGA) has been used for tuning optimum stages and locations of BTMDs and its parameters for control of vibration of seismically excited buildings. The optimal locations have been observed to be reasonably compact and practically implementable.