• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.11
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• pp.1199-1204
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• 2011

The capability to bilaterally telemanipulate soft-tissues for medical applications could increase the quality of telemanipulation systems. Since most soft-tissue manipulation tasks include constrained motion interacting with an unknown and dynamic bioenvironment through contact, bilateral telemanipulation raises problems due to stability and transparency issues. It is well understood that knowledge of environments plays an important role in pursuing transparent telemanipulation and achieving telepresence, and in particular, online estimation of environmental parameters with an explicit environment model can improve these systems' performance. In this study, a continuum mechanics-based environment model with an online environmental property estimation algorithm and an adaptive telemanipulation control scheme is proposed. The proposed method can improve the telemanipulation performance in terms of stability and transparency and can offer valuable information (e.g., elastic modulus of soft tissues) pertaining to diagnostic examinations.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.73-80
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• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.26 no.1
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• pp.29-38
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• 2013

This paper deals with geometrical non-linear analyses of the tapered cantilever column subjected to the sub-tangential follower force at the free end. Cross-sections of the column whose flexural rigidities are functionally varied with the axial coordinate. The differential equations governing the elastica of such column are derived on the basis of the large deformation theory. These differential equations have three unknown parameters of the vertical and horizontal deflections and rotation at the free end. These differential equations are numerically solved by the iteration technique for obtaining three unknowns and elastica of the deformed column. For validating theories developed herein, laboratory scaled experiments are conducted.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3A
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• pp.321-327
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• 2006

In this paper, when a H-polarized plane wave is incident on the grating consisting of uniform resistive strips, electromagnetic scattering is analyzed using the moment of methods (MoM). The current density of each resistive strip on a grounded dielectric plane is fixed by zero at both edges. To satisfy the condition at both ends of each resistive strip, the induced surface current density is expanded in a series of cosine and sine functions. The scattered electromagnetic fields are expanded in a series of floquet mode functions. The boundary conditions are applied to obtain the unknown current coefficients. According to the variation of the involving parameters such as strip width and spacing and angle of the incident field, numerical simulations are performed by applying the Fourier-Galerkin moment method. The numerical results of the normalized reflected power for resistive strips case for zero and several resistivities are obtained.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.6 s.121
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• pp.656-663
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• 2007

In this paper, when a E-polarized plane wave is incident on the grating consisting of tapered resistive strips, electromagnetic scattering is analyzed using the method of moments(MoM). The induced current density of each resistive strip in a grounded double dielectric layer is expected to blow up at both edges. To satisfy this, the induced surface current density is expanded in a series of Chebyshev polynomials of the second kind. The scattered electromagnetic fields are expanded in a series of Floquet mode functions. The boundary conditions are applied to obtain the unknown current coefficients. According to the variation of the involving parameters such as strip width and spacing and angle of the incident field, numerical simulations are performed by applying the Fourier-Galerkin moment method. The numerical results of the normalized reflected power for resistive strips case for several resistivities are obtained.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.10
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• pp.1327-1333
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• 2018

Numerical analysis has the advantage that no actual flow pathways need to be formulated, making this technique especially useful for simulation analysis such as pathway design. However, it does require that the complete physical parameters of the fluid and the complete boundary conditions be known. If any of them are unknown, either the calculation will become impossible, or even if the calculation does converge, the reliability of the result will be low. Therefore, a means of more accurate acquisition of flow information is required. In this paper, we present techniques for estimating flow field from a constraint equation for image information and velocity field, based on the image intensity changes accompanying the motion of dye in waterway. In the equation, we entered a stabilizing term to suppress estimation error. We show the effectiveness of our method through experiments with generated and real images of a Karman vortex.

• Journal of the Korea institute for structural maintenance and inspection
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• v.7 no.4
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• pp.121-128
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• 2003

In recent years, various artificial neural network algorithms are used in the damage assessment of civil infrastructures. So far, many researchers have used the artificial neural network as a pattern classifier for the structural damage assessment but, in this paper, the neural network is used as a structural reanalysis tool not as a pattern classifier. For the model updating using the optimization algorithm, the summation of the absolute differences in the structural vibration modes between undamaged structures and damaged ones is considered as an objective function. The stiffness of structural components are treated as unknown parameters to be determined. The structural damage detection is achieved using model updating based on the optimization techniques which determine the estimated stiffness of components minimizing the objective function. For the verification of the proposed damage identification algorithm, it is numerically applied to a simply supported bridge model.

• Korean Journal of Remote Sensing
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• v.17 no.4
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• pp.285-295
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• 2001

We developed a CASE-II water model that will enable the simulation of remote sensing reflectance($R_{rs}$) at the coastal waters for the retrieval of suspended sediments (SS) concentrations from satellite imagery. The model has six components which are: water, chlorophyll, dissolved organic matter (DOM), non-chlorophyllous particles (NC), heterotrophic microorganisms and an unknown component, possibly represented by bubbles or other particulates unrelated to the five first components. We measured $R_{rs}$, concentration of SS and chlorophyll, and absorption of DOM during our field campaigns in Korea. In addition, we generated $R_{rs}$ from different concentrations of SS and chlorophyll, and various absorptions of DOM by random number functions to create a large database to test the model. We assimilated both the computer generated parameters as well as the in-situ measurements in order to reconstruct the reflectance spectra. We validated the model by comparing model-reconstructed spectra with observed spectra. The estimated $R_{rs}$ spectra were used to (1) evaluate the performance of four wavelengths and wavelengths ratios for accurate retrieval of SS. 2) identify the optimum band for SS retrieval, and 3) assess the influence of the SS on the chlorophyll algorithm. The results indicate that single bands at longer wavelengths in visible better results than commonly used channel ratios. The wavelength of 625nm is suggested as a new and optimal wavelength for SS retrieval. Because this wavelength is not available from SeaWiFS, 555nm is offered as an alternative. The presence of SS in coastal areas can lead to overestimation chlorophyll concentrations greater than 20-500%.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.225-225
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• 2015

Drought events usually evolve slowly in time and their impacts generally span a long period of time. This indicates that the sequence of drought is not completely random. The Hidden Markov Model (HMM) is a probabilistic model used to represent dependences between invisible hidden states which finally result in observations. Drought characteristics are dependent on the underlying generating mechanism, which can be well modelled by the HMM. This study employed a HMM with Gaussian emissions to fit the Standardized Precipitation Index (SPI) series and make multi-step prediction to check the drought characteristics in the future. To estimate the parameters of the HMM, we employed a Bayesian model computed via Markov Chain Monte Carlo (MCMC). Since the true number of hidden states is unknown, we fit the model with varying number of hidden states and used reversible jump to allow for transdimensional moves between models with different numbers of states. We applied the HMM to several stations SPI data in South Korea. The monthly SPI data from January 1973 to December 2012 was divided into two parts, the first 30-year SPI data (January 1973 to December 2002) was used for model calibration and the last 10-year SPI data (January 2003 to December 2012) for model validation. All the SPI data was preprocessed through the wavelet denoising and applied as the visible output in the HMM. Different lead time (T= 1, 3, 6, 12 months) forecasting performances were compared with conventional forecasting techniques (e.g., ANN and ARMA). Based on statistical evaluation performance, the HMM exhibited significant preferable results compared to conventional models with much larger forecasting skill score (about 0.3-0.6) and lower Root Mean Square Error (RMSE) values (about 0.5-0.9).

• Structural Engineering and Mechanics
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• v.19 no.4
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• pp.425-440
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• 2005

In this paper, the behavior of a crack between two half-planes of functionally graded materials subjected to arbitrary tractions is resolved using a somewhat different approach, named the Schmidt method. To make the analysis tractable, it is assumed that the Poisson's ratios of the mediums are constants and the shear modulus vary exponentially with coordinate parallel to the crack. By use of the Fourier transform, the problem can be solved with the help of two pairs of dual integral equations in which the unknown variables are the jumps of the displacements across the crack surfaces. To solve the dual integral equations, the jumps of the displacements across the crack surfaces are expanded in a series of Jacobi polynomials. This process is quite different from those adopted in previous works. Numerical examples are provided to show the effect of the crack length and the parameters describing the functionally graded materials upon the stress intensity factor of the crack. It can be shown that the results of the present paper are the same as ones of the same problem that was solved by the singular integral equation method. As a special case, when the material properties are not continuous through the crack line, an approximate solution of the interface crack problem is also given under the assumption that the effect of the crack surface interference very near the crack tips is negligible. It is found that the stress singularities of the present interface crack solution are the same as ones of the ordinary crack in homogenous materials.