• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.21-24
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• 1999

There-have been many control strategies for the enact joint position tracking of flexible manipulators, but direct cartesian space tracking control methods an not developed well. In this paper, we propose a PD control method based on the cartesian error in the end point trajectory tracking. the proposed controller is composed of PD control combined with nonlinear saturation term hut has a very simple form. the effect of this term is continuous suppression of vibration which is induced by the coupling of rigid motion. This control works both on the regulation and on the tracking cases. The performance and validity of this control method is shown by simulation examples.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1452-1459
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• 2010

Application of long-span bridge, which is affected by parameters such as span length, shoe boundary condition, track property and stiffness of superstructure and substructure etc., can vary. Especially, by CWR aspects of the axial force, that can be less constraints of construction depending on whether the application of rail expansion joint(REJ), which has disadvantaged in terms of maintenance. In this study, it was performed parameter study for multiple variables (shaft length, the upper and lower cross-section characteristics, track characteristics, etc.) in terms of CWR aspects. Structure-rail interaction analysis was applied to the typical simple span PSC Box and 3 span continuous bridge Extradosed Bridge(50m+80m+50m) excluding REJ. If you set the boundary e of variables for long-span railway bridge excluding REJ through the this study, when designing future is expected to be able to useful.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1093-1098
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• 2007

In designing the high-speed railroad track, it is important to utilize appropriate track components to maintain uniform stiffness and ensure track alignment within the tolerance set for that system. In this regard, continuous welded rails (CWRs) were introduced to the Korean railways. Yet the installation of CWRs can result in an adverse impact due to the track/structure interaction on bridge sections yielding variations in the stiffness at the expansion joints. It may also impose additional axial force, generate excessive stress or deflection on track, and loosen the ballast at the ends as a bridge deck contracts or expands owing to a thermally-induced dynamic response. The risk is even greater in a long bridge deck, resulting in track longitudinal irregularities, deteriorating passenger's comfort, and increasing maintenance efforts. This study evaluates the performance of ZLR and their impact on track longitudinal irregularities through the track measuring results on a test section installed the ZLR in order to minimize the thermally-induced responses and the maintenance efforts for the high speed railway bridges.

• Proceedings of the KWS Conference
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• 2004.05a
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• pp.327-329
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• 2004

Reliability evaluation of the welded structure for industrial structures/facilities such as power plant and petro-chemical refinery facilities is very important, and especially the reliability diagnosis of the structure is based on the exact evaluation of materials properties. But, the conventional Pre-Qualification test had the difficulty of evaluating the real material properties in the field because the test was made on the specimen with the simulated welding for the in-field welding condition. Therefore, a continuous indentation technique was proposed for simple and non-destructive testing of in-field structures and for selective testing of local range such as heat affected zone and weldment.

• Proceedings of the Korean Statistical Society Conference
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• 2003.05a
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• pp.79-84
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• 2003

Likelihood estimation in random-effect models is often complicated because the marginal likelihood involves an analytically intractable integral. Numerical integration such as Gauss-Hermite quadrature is an option, but is generally not recommended when the dimensionality of the integral is high. An alternative is the use of hierarchical likelihood, which avoids such burdensome numerical integration. These two approaches for fitting binary data are compared and the advantages of using the hierarchical likelihood are discussed. Random-effect models for binary outcomes and for bivariate binary-continuous outcomes are considered.

• Computers and Concrete
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• v.19 no.4
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• pp.405-411
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• 2017

Carbon Fiber Reinforced Plastic (CFRP) has commonly been used to strengthen existing RC structures. Wrapping the whole component with CFRP is an effective method and simple to execute. Besides, specific configuration of CFRP sheets (L, X and T shape) has also been considered in some experiments to examine CFRP effects in advance. This study aimed to provide an optimal CFRP configuration to effectively retrofit the beam-column connection using continuous material topology optimization procedure. In addition, Moved and Regularized Heaviside Functions and penalization factors were also considered. Furthermore, a multi-material procedure was also used to compare with the results from the single material procedure.

• Korean Journal of Mathematics
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• v.23 no.2
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• pp.249-257
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• 2015

For a positive integer k, an operator T is said to be k-quasi-*-paranormal if ${\parallel}T^{k+2}x{\parallel}{\parallel}T^kx{\parallel}{\geq}{\parallel}T^*T^kx{\parallel}^2$ for all x $\in$ H, which is a generalization of *-paranormal operator. In this paper, we give a necessary and sufficient condition for T to be a k-quasi-*-paranormal operator. We also prove that the spectrum is continuous on the class of all k-quasi-*-paranormal operators.

• Journal of Korean Society for Quality Management
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• v.26 no.2
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• pp.39-50
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• 1998

A screening procedure, where one or more correlated variables are used for screeing, is reviewed from the point of statistical hypothesis testing. Without assuming a specific probability model for the joint distribution of the performance and screening variables, some principles are provided to establish the best screeing region. A, pp.ication examples are provided for two cases; ⅰ) the case where the performance variable is dichotomous and ⅱ) the case where the performance variable is continuous. In case ⅰ), a normal model is assumed for the conditional distribution of the screening variable given the performance variable. In case ⅱ), the performance and screening variables are assumed to be jointly normally distributed.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.230-244
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• 2015

Continuous-path motion control such as resolved motion rate control requires online solving of the inverse differential kinematics for a robot. However, the solution space of the inverse differential kinematics related to Jacobian J is not well-established. In this paper, the solution space of inverse differential kinematics is analyzed through categorization of mapping conditions between joint velocities and end-effector velocity of a robot. If end-effector velocity is within the column space of J, the solution or the minimum norm solution is obtained. If it is not within the column space of J, an approximate solution by least-squares is obtained. Moreover, this paper introduces an improved mapping diagram showing orthogonality and mapping clearly between subspaces, and concrete examples numerically showing the concept of several subspaces. Finally, a solver and graphics user interface (GUI) for inverse differential kinematics are developed using MATLAB, and the solution of inverse differential kinematics using the GUI is demonstrated for a vertically articulated robot.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2003.05a
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• pp.127-132
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• 2003

The purpose of current study is about how to construct wall-type APT in slip form and Deck plate applied different connection of materials that wall and slab. A proposal construct's solution is using the continuous a binding string that the main of contents are slab or stairs which horizon structure part construction is joined the vertical structure part, new we Proposed of 2 solution that new technology development. We'll suggest that the development is in the construct of higher stories APT more better other construction method. We expect that the new method is good but we have many things to solute themes. Thus, we decided that this development contents are needed that correct structural investigation and constructor's security of speciality and through a fact construct, correct verification.