• Journal of Integrative Natural Science
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• v.7 no.3
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• pp.208-213
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• 2014

National-wide and/or large scale sample surveys generally use complex sample design. Traditional Pearson chi-square test is not appropriate for the categorical complex sample data. Rao-Scott suggested an adjustment method for Pearson chi-square test, which uses the average of eigenvalues of design matrix of cell probabilities. This study is to compare the efficiency of Rao-Scott first order adjusted test to Wald test for homogeneity between two populations using 2009 Gyeongnam regional education offices's customer satisfaction survey (2009 GREOCSS) data. The 2009 GREOCSS data were collected based on stratified three-stage cluster sampling with probability proportional to size. The empirical results show that the Rao-Scott adjusted test statistic using only the variances of cell probabilities is very close to the Wald test statistic, which uses the covariance matrix of cell probabilities, under the 2009 GREOCSS data based. However it is necessary to be cautious to use the Rao-Scott first order adjusted test statistic in the place of Wald test because its efficiency is decreasing as the relative variance of eigenvalues of the design matrix of cell probabilities is increasing, specially more when the number of degrees of freedom is small.

• Interaction and multiscale mechanics
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• v.4 no.4
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• pp.257-271
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• 2011

The analysis of interfacial stresses in structural component has been the subject of several investigations but it still requires more effort and studies. In this study a general three-dimensional interface element has been formulated for stress and displacement analyses in the interfacial area between two adjacent plate bending element and brick element. Interface element has 16 nodes with 5 degrees of freedom (DOF) in each node adjacent to plate bending element and 3 DOF in each node adjacent to brick element. The interface element has ability to transfer three translations from each side of interface element and two rotations in the side adjacent to the plate element. Stiffness matrix of this element was formulated and implemented in three-dimensional finite element code. Application of this element to the reinforced concrete (RC) beam strengthened with fiber reinforced polymer (FRP) including variation of deflection, slip between plate and concrete, normal and shear stresses distributions in FRP plates have been verified using experimental and numerical work of strengthened RC beams carried out by some researchers. The results show that this interface element is effective and can be used for structural component with these types of interface elements.

• Coupled systems mechanics
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• v.3 no.3
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• pp.267-289
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• 2014

A proper physical modeling of infilled building frame-foundation beam-soil mass interaction system is needed to predict more realistic and accurate structural behavior under static vertical loading. This is achieved via finite element method considering the superstructure, foundation and soil mass as a single integral compatible structural unit. The physical modelling is achieved via use of finite element method, which requires the use of variety of isoparametric elements with different degrees of freedom. The unbounded domain of the soil mass has been discretized with coupled finite-infinite elements to achieve computational economy. The nonlinearity of soil mass plays an important role in the redistribution of forces in the superstructure. The nonlinear behaviour of the soil mass is modeled using hyperbolic model. The incremental-iterative nonlinear solution algorithm has been adopted for carrying out the nonlinear elastic interaction analysis of a two-bay two-storey infilled building frame. The frame and the infill have been considered to behave in linear elastic manner, whereas the subsoil in nonlinear elastic manner. In this paper, the computational methodology adopted for nonlinear soil-structure interaction analysis of infilled frame-foundation-soil system has been presented.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.69-76
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• 2004

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.735-743
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• 2010

A new Fuzzy sliding mode controller is proposed to improve the cornering performance of the four wheel hybrid vehicles. The Fuzzy sliding mode control is applied for the control of rear motor and EHB (Electro-Hydraulic Brake) to improve the cornering performance. The modeling of the automobile is simplified that each of the two wheels is modeled as two degrees of freedom object and the friction coefficient between the wheel and the ground is assumed to be constant. The output of the Fuzzy sliding mode algorithm is the direct yaw moment for the rear wheels, which compensates for the slip angle. Through the simulations using ADAMS and MATLAB Simulink, the cornering performance of the proposed algorithm is compared to the conventional PID to show the superiority of the proposed algorithm. In the simulation experiments, the J-Turn and single lane change are used for each of the Fuzzy sliding mode algorithm and PID controller with the optimal gains which are tuned empirically.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.263-269
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• 2017

Recently, soft robots using soft materials are presented. Thanks to soft materials, soft robots have flexible, highly-stretchable or adaptable features. However, due to the flexibility of soft material, it is hard for soft robots to control accurately or perform high force. To deal with these limitations, variable stiffness technology, which enables the stiffness control of structure, has been developed. In this research, a dual-stiffness structure that is actuated by the assembly of two flexible structures are presented. Each flexible structure consists of flexible film part and rigid parts placed at regular intervals. The flexibility of film between rigid parts allows each structure to move softly. On the other hand, by combining two structures rigid part of each part constrain the degrees of freedom of the other side part. And this causes the stiffness of whole structure to be increased. This paper will cover concepts, design, analysis and experiments of this structure.

• Journal of Ocean Engineering and Technology
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• v.23 no.5
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• pp.1-8
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• 2009

This paper is a continuation of the recent development on Hermite-based divergence free element method and deals with a non-isothermal fluid flow thru the buoyancy driven flow in a square enclosure with temperature difference across the two sides. The basis functions for the velocity field consist of the Hermite function and its curl while the basis functions for the temperature field consists of the Hermite function and its gradients. Hence, the number of degrees of freedom at a node becomes 6, which are the stream function, two velocities, the temperature and its x and y derivatives. This paper presents numerical results for Ra = 105, and compares with those from a stabilized finite element method developed by Illinca et al. (2000). The comparison has been done on 32 by 32 uniform elements and the degree of approximation of elements used for the stabilized finite element are linear (Deg. 1) and quadratic (Deg. 2). The numerical results from both methods show well agreements with those of De vahl Davi (1983).

• Journal of Magnetics
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• v.21 no.3
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• pp.379-386
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• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.1
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• pp.107-117
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• 2003

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, an automatic polishing robot system was developed. The polishing robot system is composed of two subsystems, a three-axis machining center and a two-axis polishing head. The machining center is controlled by a FANUC controller, and the polishing head by DSP controller. The system has five degrees of freedom and is able to keep the polishing tool normal to the die surface during operation. To easily operate the developed polishing robot system, this study developed an integrated operating program in the Windows environment. The program consists of five modules: a polishing data generation module, a code separation module, a polishing module, a graphic simulator module, and a teaching module. And, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. Also, to evaluate the performance of the integrated operating program and the polishing robot system, polishing experiments of a die of shadow mask were carried out.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.