• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.4
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• pp.756-765
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• 2001

An effective dexterous motion control method of redundant robot manipulators based on neural optimization network is proposed to satisfy multi-criteria such as singularity avoidance, minimizing energy consumption, and avoiding physical limits of actuator, while performing a given task. The method employs a neural optimization network with parallel processing capability, where only a simple geometric analysis for resolved motion of each joint is required instead of computing of the Jacobian and its pseudo inverse matrix. For dexterous motion, a joint geometric manipulability measure(JGMM) is proposed. JGMM evaluates a contribution of each joint differential motion in enlarging the length of the shortest axis among principal axes of the manipulability ellipsoid volume approximately obtained by a geometric analysis. Redundant robot manipulators is then controlled by neural optimization networks in such a way that 1) linear combination of the resolved motion by each joint differential motion should be equal to the desired velocity, 2) physical limits of joints are not violated, and 3) weighted sum of the square of each differential joint motion is minimized where weightings are adjusted by JGMM. To show the validity of the proposed method, several numerical examples are illustrated.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.9
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• pp.90-96
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• 2021

As real-time data of factories can be collected using various sensors, the adaptation of intelligent unmanned processing systems is spreading via the establishment of smart factories. In intelligent unmanned processing systems, data are collected in real time using sensors. The equipment is controlled by predicting future situations using the collected data. Particularly, a technology for the prediction of tool wear and for determining the exact timing of tool replacement is needed to prevent defected or unprocessed products due to tool breakage or tool wear. Directly measuring the tool wear in real time is difficult during the cutting process in milling. Therefore, tool wear should be predicted indirectly by analyzing the cutting load of the main spindle, current, vibration, noise, etc. In this study, data from the current and acceleration sensors; displacement data along the X, Y, and Z axes; tool wear value, and shape change data observed using Newroview were collected from the high-speed, two-edge, flat-end mill machining process of SKD11 steel. The support vector machine technique (machine learning technique) was applied to predict the amount of tool wear using the aforementioned data. Additionally, the prediction accuracies of all kernels were compared.

• Earthquakes and Structures
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• v.20 no.4
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• pp.389-403
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• 2021

Skewed bridges, being irregular structures with complicated dynamic behavior, are more susceptible to earthquake damage. Reliable seismic-resistant design of skewed bridges can be achieved by accurate determination of nonlinear seismic demands. However, the effect of geometric characteristics on the response modification factor (R-factor) is not accounted for in bridge design practices. This study attempts to investigate the effects of changes in the number of spans, skew angle and bearing stiffness on R-factor values and to assess the seismic fragility of skewed bridges. Results indicated that changes in the skew angle had no significant effect on R-factor values which were in consonance with code-prescribed R values. Also, unlike the increase in the number of spans that resulted in a decrease in the R-factor, the increase in bearing stiffness led to higher R-factor values. Findings of the fragility analysis implied that although the increase in the number of spans, as well as the increase in the skew angle, led to a higher failure probability, greater values of bearing stiffness reduced the collapse probability. For practicing design engineers, it is recommended that maximum demands on substructure elements to be calculated when the excitation angle is applied along the principal axes of skewed bridges.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.10 no.2
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• pp.87-96
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• 2012

With a view to determine a safe speed the limit of a manipulator arm, several experiments was performed with a multi-jointed manipulator in maintenance and decommissioning tasks of nuclear facilities. Under the simulated emergency conditions, which were generated with random combinations of manipulator arm speed, failure probability and failure type, response characteristics of human operators to various malfunctions of a manipulator arm were measured in terms of reaction time, number of false alarm, and number of misses. This paper demonstrated that failure type, manipulator axes and manipulator arm speed has significant effects on human reaction time. As a whole the reaction time was slightly increased with manipulator arm speed, which is showed somewhat different pattern due to failure type. The reaction time to an axis acting on a workpiece directly, which could flex and extend, was fastest and much more its standard deviation was small. Various factors which may affect safe speed were also described.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.70-77
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• 2010

This study proposed an auto focusing method for a multi-focus image in assembling lens modules in digital camera phones. A camera module in a camera phone is composed of a lens barrel, an IR glass, a lens mount, a PCB board and aspheric lenses. Alignment among the components is one of the important factors in product quality. Auto-focus is essential to adjust image quality of an IR glass in a lens holder, but there are two focal points in the captured image due to thickness of IR glass. So, sharpness, probability and a scale factor are defined to find desired focus from a multi-focus image. The sharpness is defined as clarity of an image. Probability and a scale factors are calculated using pattern matching with a registered image. The presented algorithm was applied to a lens assembly machine which has 5 axes, two vacuum chucks and an inspection system. The desired focus can be determined on the local maximum of the sharpness, the probability and the scale factor in the experiment.

• Smart Structures and Systems
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• v.26 no.3
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• pp.373-390
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• 2020

Hybrid simulation (HS) is a versatile tool for structural performance evaluation under dynamic loads. Although real structural responses are often multiple-directional owing to an eccentric mass/stiffness of the structure and/or excitations not along structural major axes, few HS in this field takes into account structural responses in multiple directions. Multi-directional loading is more challenging than uni-directional loading as there is a nonlinear transformation between actuator and specimen coordinate systems, increasing the difficulty of suppressing loading error. Moreover, redundant actuators may exist in multi-directional hybrid simulations of large-scale structures, which requires the loading strategy to contain ineffective loading of multiple actuators. To address these issues, lately a new strategy was conceived for accurate reproduction of desired displacements in bi-directional hybrid simulations (BHS), which is characterized in two features, i.e., iterative displacement command updating based on the Jacobian matrix considering nonlinear geometric relationships, and force-based control for compensating ineffective forces of redundant actuators. This paper performs performance validation and application of this new mixed loading strategy. In particular, virtual BHS considering linear and nonlinear specimen models, and the diversity of actuator properties were carried out. A validation test was implemented with a steel frame specimen. A real application of this strategy to BHS on a full-scale 2-story frame specimen was performed. Studies showed that this strategy exhibited excellent tracking performance for the measured displacements of the control point and remarkable compensation for ineffective forces of the redundant actuator. This strategy was demonstrated to be capable of accurately and effectively reproducing the desired displacements in large-scale BHS.

• Earthquakes and Structures
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• v.27 no.3
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• pp.227-237
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• 2024

The incidence angle of seismic excitation relative to the two orthogonal major axes of structures has been a subject of considerable research interest. Previous studies have primarily focused on single-storey symmetric and asymmetric structures, suggesting a minimal effect of incidence angle on structural behavior. This research extends the investigation to multi-storey structures, including vertically irregular configurations, using a comprehensive set of 20 near fault and 20 far field seismic excitation. The study employs nonlinear time-history analysis with a bidirectional hysteresis model to capture inelastic deformations accurately. Various structural models, including one-storey and two- storey regular structures (R1, R2) and vertically irregular structures with setbacks in one direction (IR1) and both directions (IR2), are analysed. The analysis reveals that the incidence angle has no discernible impact over the response of regular multi-storey structures. However, vertically irregular structures exhibit notable responses at corner columns, which decrease towards central columns, irrespective of the incidence angle. This response is attributed to the inherent mass distribution and stiffness irregularities rather than the angle of seismic excitation. The findings indicate that for both near fault and far field seismic excitation, the incidence angle's impact remains marginal even for complex structural configurations. Consequently, the study suggests that the angle of incidence of seismic excitation need not be a primary consideration in the seismic design of both regular and vertically irregular structures. These conclusions are robust across various structural models and seismic excitation characteristics, providing a comprehensive understanding the impact of incidence angle on seismic response.

• The korean journal of orthodontics
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• v.25 no.1 s.48
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• pp.73-85
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• 1995

Multi-Vertical Loop Arch Wire(MVLAW) is a kind of appliance for uprighting the mesially inclined posterior teeth axes simultaneously. In this study MVLAW was classified as 3 types by modifing the vertical loop design and named type A, B and C. Each MVLAW was fabricated from .017'x.025' TMA wire and preactivated at the distal end of the open vertical loop with 10 degree tip-back bend(type B has an electric welding stop at the distal end of each loop and type C has no electric welding stop). Type A MVLAW was preactivated at the apex of each open vertical loop with 10 degree tip-back bend(the electric welding stop of type A is positionod at the mesial side of each loop). The aim of the present study was to identify when and which MVLAW is more effective to correct the buccal segment axes simultaneously. The Photoelastic overview of the upper and lower right quadrant showed that stress concentrations were observed in its photoelastic model. The obtained results were as follows : 1. Higher level compression can be seen clearly at the distal curvature of the lower 1st and 2nd molar when A type MVLAW was applied without short class m elastic, but mild compression cannot be seen at the distal curvature of lower anterior teeth using the class m elastic. 2. Higher concentration was presented at the mesial curvature from the lower 1st premolar to the 2nd molar than the anterior teeth when B type MVLAW without short class III elastic was applied, but using the short class III elastic, higher concentration of compression was presented in the anterior teeth area. 3. Areas of higher compression and tension were not observed at the mesial and distal curvature of the entire 1ower teeth except lower central and lateral incisors in C type MVLAW without short class III elastic, but using the short class III elastic, higher concentration was seen at the mesial curvature of the lower 1st premolar and 1ower anterior teeth.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.34 no.5
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• pp.301-308
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• 2021

It is important to develop a digital SOC (Social Overhead Capital) maintenance system for preemptive maintenance in response to the rapid aging of social infrastructures. Abnormal signals induced from structures can be detected quickly and optimal decisions can be made promptly using IoT sensors deployed on the structures. In this study, a digital SOC monitoring system incorporating a multimetric IoT sensor was developed for long-term monitoring, for use in cloud-computing server for automated and powerful data analysis, and for establishing databases to perform : (1) multimetric sensing, (2) long-term operation, and (3) LTE-based direct communication. The developed sensor had three axes of acceleration, and five axes of strain sensing channels for multimetric sensing, and had an event-driven power management system that activated the sensors only when vibration exceeded a predetermined limit, or the timer was triggered. The power management system could reduce power consumption, and an additional solar panel charging could enable long-term operation. Data from the sensors were transmitted to the server in real-time via low-power LTE-CAT M1 communication, which does not require an additional gateway device. Furthermore, the cloud server was developed to receive multi-variable data from the sensor, and perform a displacement fusion algorithm to obtain reference-free structural displacement for ambient structural assessment. The proposed digital SOC system was experimentally validated on a steel railroad and concrete girder bridge.

• The Journal of the Petrological Society of Korea
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• v.13 no.4
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• pp.179-190
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• 2004

Precambrian metamorphic rocks of Yeongyang-Uljin area, which is located in the eastern part of Sobaegsan Massif, Korea, are composed of Pyeonghae, Giseong, Wonnam Formations and Hada leuco granite gneisses. These show a zonal distribution of WNW-ESE trend, and are intruded by Mesozoic igneous rocks and are unconformably overlain by Mesozoic sedimentary rocks. This study clarifies the deformation history of Precambrian metamorphic rocks after the formation of gneissosity or schistosity on the basis of the geometric and kinematic features and the forming sequence of multi-deformed rock structures, and suggests that the geological structures of this area experienced at least four phases of deformation i.e. ductile shear deformation, one deformation before that, at least two deformations after that. (1) The first phase of deformation formed regional foliations and WNW-trending isoclinal folds with subhorizontal axes and steep axial planes dipping to the north. (2) The second phase of deformation occurred by dextral ductile shear deformation of top-to-the east movement, forming stretching lineations of E-W trend, S-C mylonitic structure foliations, and Z-shaped asymmetric folds. (3) The third phase deformation formed I-W trending open- or kink-type recumbent folds with subhorizontal axes and gently dipping axial planes. (4) The fourth phase deformation took place under compression of NNW-SSE direction, forming ENE-WSW trending symmetric open upright folds and asymmetric conjugate kink folds with subhorizontal axes, and conjugate faults thrusting to the both NNW and SSE with drag folds related to it. These four phases of deformation are closely connected with the orientation of regional foliation in the Yeongyang-Uljin area. 1st deformation produced regional foliation striking WNW and steeply dipping to the north, 2nd deformation locally change the strike of regional foliation into N-S direction, and 3rd and 4th deformations locally change dip-angle and dip-direction of regional foliation.