• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.29 no.3
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• pp.237-244
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• 2016

This paper presents a nonlinear Moving Least Squares(MLS) difference method for material nonlinearity problem. The MLS difference method, which employs strong formulation involving the fast derivative approximation, discretizes governing partial differential equation based on a node model. However, the conventional MLS difference method cannot explicitly handle constitutive equation since it solves solid mechanics problems by using the Navier's equation that unifies unknowns into one variable, displacement. In this study, a double derivative approximation is devised to treat the constitutive equation of inelastic material in the framework of strong formulation; in fact, it manipulates the first order derivative approximation two times. The equilibrium equation described by the divergence of stress tensor is directly discretized and is linearized by the Newton method; as a result, an iterative procedure is developed to find convergent solution. Stresses and internal variables are calculated and updated by the return mapping algorithm. Effectiveness and stability of the iterative procedure is improved by using algorithmic tangent modulus. The consistency of the double derivative approximation was shown by the reproducing property test. Also, accuracy and stability of the procedure were verified by analyzing inelastic beam under incremental tensile loading.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.4
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• pp.217-224
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• 2020

In this study, a framework for optimizing the opening in an outrigger wall is proposed. To solve a constrained bounded optimization problem, an in-house finite element program and SQP algorithm in Python SciPy library are utilized. The openings of the outrigger wall are located according to the strut-tie behavior of the outrigger wall deep beam. A linear interpolation method is used to obtain differentiable continuous functions required for optimization, whereas a database is used for the efficiency of the optimization program. By comparing the result of the two-variable optimization through the moving path of the search algorithm, it is confirmed that the algorithm efficiently determines the optimized result. When the size of each opening is set to individual variables rather than the same width of all openings, the value of the objective function is minimized to obtain better optimization results. It was confirmed that the optimization time can be effectively reduced when using the database in the optimization process.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.2
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• pp.181-186
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• 2017

Synthetic aperture radar(SAR) has been widely used for reconnaissance. It provides high-resolution, day-and-night and weather-independent images for a multitude of applications. Because SAR coherently combines many viewing angles to effectively create a large aperture(narrow beam) radar, the test-bed should be capable of moving straightly SAR sensor for the integration angle to meet resolution. This paper describes the test-bed developed to test and evaluate the SAR performance. It forms high-quality images in real time and saves the raw data for the purpose of post processing on the ground.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.373-375
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• 2002

4D CT is a dynamic volume imaging system of moving organs with an image quality comparable to conventional CT, and is realized with continuous and high-speed cone-beam CT. In order to realize 4D CT, we have developed a novel 2D detector on the basis of the present CT technology, and mounted it on the gantry frame of the state-of-the-art CT-scanner. In the present report we describe the design of the first model of 4D CT-scanner as well as the early results of performance test. The x-ray detector for the 4D CT-scanner is a discrete pixel detector in which pixel data are measured by an independent detector element. The numbers of elements are 912 (channels) ${\times}$ 256 (segments) and the element size is approximately 1mm ${\times}$ 1mm. Data sampling rate is 900views(frames)/sec, and dynamic range of A/D converter is 16bits. The rotation speed of the gantry is l.0sec/rotation. Data transfer system between rotating and stationary parts in the gantry consists of laser diode and photodiode pairs, and achieves net transfer speed of 5Gbps. Volume data of 512${\times}$512${\times}$256 voxels are reconstructed with FDK algorithm by parallel use of 128 microprocessors. Normal volunteers and several phantoms were scanned with the scanner to demonstrate high image quality.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.10
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• pp.1128-1136
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• 2012

In this paper, we propose an electrically tilting system based on a null-steering in order to solve the problem of the shadowing loss caused by the mechanically tilted antenna system in mobile services. Especially, we improve the downward shadowing loss by eliminating or moving the vertical beampattern nulls between $-30^{\circ}{\sim}0^{\circ}$ to be able to tilt the downward beampattern between $-10^{\circ}{\sim}0^{\circ}$. The antenna has 14.5 dBi gain and side lobe level (SLL) is lower than -18 dB within downward tilting range. The isolation of polarization is greater than 30 dB when running in electric tilt down to $-10^{\circ}$. To verify this paper, we made the base-station antenna for W-CDMA and beam tilting devices, and verified the performances.

• Computers and Concrete
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• v.20 no.5
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• pp.563-572
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• 2017

Ordinary reinforced concrete (RC) and prestressed concrete bridges are two popular and typical types of short- and medium-span bridges that accounts for the vast majority of all existing bridges. The cost of maintaining, repairing or replacing degraded existing RC bridges is immense. Detecting the abnormality of RC bridges at an early stage and taking the protective measures in advance are effective ways to improve maintenance practices and reduce the maintenance cost. This study proposes a systematic method from influence line (IL) identification to damage detection with applications to RC bridges. An IL identification method which integrates the cubic B-spline function with Tikhonov regularization is first proposed based on the vehicle information and the corresponding moving vehicle induced bridge response time history. Subsequently, IL change is defined as a damage index for bridge damage detection, and information fusion technique that synthesizes ILs of multiple locations/sensors is used to improve the efficiency and accuracy of damage localization. Finally, the feasibility of the proposed systematic method is verified through experimental tests on a three-span continuous RC beam. The comparison suggests that the identified ILs can well match with the baseline ILs, and it demonstrates that the proposed IL identification method has a high accuracy and a great potential in engineering applications. Results in this case indicate that deflection ILs are superior than strain ILs for damage detection of RC beams, and the performance of damage localization can be significantly improved with the information fusion of multiple ILs.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1381-1388
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• 1993

This paper presents a method for the simultaneous optimal design of structural and control systems. Sensitivities of performance index with respect to structural design variables are analyzed. The structural design variables are optimized to minimize the performance index by use of conjugate gradient method. The method is applied to a half model of an active vehicle suspension system with elastic body moving on a randomly profiled road. The suspension control force of an optimally controlled system in the presence of measurement errors are calculated by use of linear quadratic Gaussian control theory and Kalman filter theory. The performance index contains ride comfort, road holding and working space of suspension. The structural design variables taken are stiffness, daming properties and the position of the suspension system. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of an optimal simultaneous structure/control system is compared with that of an optimal controlled system.

• Korean Journal of Digital Imaging in Medicine
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• v.13 no.3
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• pp.99-103
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• 2011

Radiation Therapy has been used in the treatment of breast cancer for over 80 years. Technically, it should include a part or all of such areas as chest wall or breast, axilla, internam mammary nodes and supraclavicular nodes. The purpose of this study is treated breast cancer patient to use 6 MV, 10 MV with bolus so that we observe changing of skin dose and evaluate those usefulness. Using woman's phantom, after CT simulate scanning, Through RTP system to make treatment plan, select three any place. And then, we measure that dose rate. After moving the phantom to linac, we put for TLD to three point same as RTP system which we put on the phantom. We exposed 6 MV, 10 MV with bolus and without so that it is measured dose by TLD device(4000 Harshaw). As a reult expose 6 MV,10 MV, it differences 10%, 15% according to bolus and withoout bolus where lateral point from RAO, LPO beam, other one is 20% where the furthest from both beams. To use bolus in the hospital is material to include closely part at skin among tissue of breast cancer. Acquired skin dose from RTP system is uncertainity. So it has to test another system likely TLD or other dosimetry system. Also exposed field of breast cancer is included inhomogeneity such as lung, bone and so on. Therefore it has to be accomplished a dose calculating of inhomogeneity part from treatment plan.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.10
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• pp.1213-1219
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• 2012

A remote $CO_2$ laser system can rapidly change both the distance and the direction of the laser beam by moving a lens and rotating mirrors. It is then easy to weld complex patterns of weld lines. A conventional spot weld joint specimen and a remote $CO_2$ laser weld joint specimen with complex weld line patterns were prepared and tested both statically and dynamically. The relationships between the fatigue strength, i. e. the maximum cyclic force, and the fatigue life were obtained. The fatigue strength of the tested welded joints at two million cycles was found to be approximately 10% of the static strength. Furthermore, it was observed that the fatigue fracture mode changed with the level of the applied cyclic force. The fatigue crack origins were confirmed as the highest stress points found in the structural analysis. The maximum cyclic stress for different weld patterns converges as the fatigue life approaches two million cycles.