• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• Journal of Korean Institute of Industrial Engineers
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• v.42 no.2
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• pp.86-95
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• 2016

We propose a new approach to the stochastic version of Lanchester model. Commonly used approach to stochastic Lanchester model is through the Markov-chain method. The Markov-chain approach, however, is not appropriate to high dimensional heterogeneous force case because of large computational cost. In this paper, we propose an approximation method of stochastic Lanchester model. By matching the first and the second moments, the distribution of each unit strength can be approximated with multivariate normal distribution. We evaluate an approximation of discrete Markov-chain model by measuring Kullback-Leibler divergence. We confirmed high accuracy of approximation method, and also the accuracy and low computational cost are maintained under high dimensional heterogeneous force case.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.78-85
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• 2002

The wavelet transform is a popular tool fer studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the detection of a tool failure in turning process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. A preliminary stepped workpiece which had intentionally a hard condition was cut by the inserted cermet tool and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At tool failure, the approximation signals were suddenly increased and the detailed signals were extremely oscillated just before tool failure.

• Journal of Ship and Ocean Technology
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• v.4 no.1
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• pp.21-27
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• 2000

The slamming force occurring in the free fall impact of cylindrical bodies on the water surface is analyzed in both compressible and incompressible stages. In the compressible phase the hydrodynamic analysis is carried on by the acoustic approximation, obtaining a closed form expression for the maximum impact force. The incompressible analysis is approached through and unsteady boundary element method to compute the free surface evolution and the slamming force on the body. A similar behavior seems to characterize the maximum slamming force versus a dimensionless mass parameter.

• Journal of the military operations research society of Korea
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• v.18 no.2
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• pp.96-113
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• 1992

A time-varying nonhomogeneous poisson process approximation of the nonexponential stochastic Lanchester model is defined and evaluated over a range of combat parameters including initial force sizes. breakpoints. and interkilling random variables. The proposed approximation is far excellent and takes much less CPU time than the existing models. The sensitivity analysis was peformed to evaluate the efficiency of the proposed model and three recommended factors are suggested to guide the combat operators.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.1 no.1
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• pp.29-37
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• 2002

The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the diagnosis of grinding conditions in grinding process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. STD11 workpiece was 85 times of machined pieces cut by the WA wheel and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At dressing time, the approximation signals were slowly increased and 45 machined times noticed dressing time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.1063-1066
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• 2002

The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the detection of a tool failure in turning process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. A preliminary stepped workpiece which had intentionally a hard condition was cut by the inserted cermet tool and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At tool failure, the approximation signals were suddenly increased and the detailed signals were extremely oscillated just before tool failure.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.5
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• pp.1-6
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• 2010

The wavelet transform is a popular tool for studying intermittent and localized phenomena in signals. In this study the wavelet transform of cutting force signals was conducted for the detection of a tool failure in turning process. We used the Daubechies wavelet analyzing function to detect a sudden change in cutting signal level. A preliminary stepped workpiece which had intentionally a hard condition was cut by the inserted cermet tool and a tool dynamometer obtained cutting force signals. From the results of the wavelet transform, the obtained signals were divided into approximation terms and detailed terms. At tool failure, the approximation signals were suddenly increased and the detailed signals were extremely oscillated just before tool failure.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.3
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• pp.7-17
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• 1990

The objective of this paper is to provide a method of optimizing are as of the members as well as shape of both truss and arch structures. The design process includes satisfaction of stress and Euler buckling stress constraints for truss and combined stress constraints for arch structures. In order to reduce the number of detailed finite element analysis, the Force Approximation Method is used. A finite element analysis of the initial structure is performed and the gradients of the member end forces are calculated with respect to the areas and nodal coordinates. The gradients are used to form an approximate structural analysis based on first order Taylor series expansions of the member end forces. Using move limits, a numerical optimizer minimizes the volume of the structure with information from the approximate structural analysis. Numerical examples are performed and compared with other methods to demonstrate the efficiency and reliability of the Force Approximation Method for shape optimization. It is shown that the number of finite element analysis is greatly reduced and that it leads to a highly efficient method of shape optimization of structures.

• Structural Engineering and Mechanics
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• v.20 no.3
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• pp.313-334
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• 2005

The paper presents a new approach for the analysis of slope stability that is based on the numerical solution of a differential equation, which describes the thrust force distribution within the potential sliding mass. It is based on the evaluation of the thrust force value at the endpoint of the slip line. A coupled approximation of the slip and thrust lines is applied. The model is based on subdivision of the sliding mass into slices that are normal to the slip line and the equilibrium differential equation is obtained as the slice width approaches zero. Opposed to common iterative limit equilibrium procedures the present method is straightforward and gives an estimate of slope stability at the value of the safety factor prescribed in advance by standard requirements. Considering the location of the thrust line within the soil mass above the trial slip line eliminates the possible development of a tensile thrust force in the stable and critical states of the slope. The location of the upper boundary point of the thrust line is determined by the equilibrium of the upper triangular slice. The method can be applied to any smooth shape of a slip line, i.e., to a slip line without break points. An approximation of the slip and thrust lines by quadratic parabolas is used in the numerical examples for a series of slopes.