• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.849-856
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• 2006

This paper is to examine the applicability of ordinary Kriging interpolation(OK) to the p-adaptivity of the finite element analysis that is based on variogram. In the p-refinement, the analytical domain has to be refined automatically to obtain an acceptable level of accuracy by increasing the p-level non-uniformly or selectively. In case of non-uniform p-distribution, the continuity between elements with different polynomial orders is achieved by assigning zero higher-order derivatives associated with the edge in common with the lower-order derivatives. It is demonstrated that the validity of the proposed approach by analyzing results for stress singularity problem.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.98-107
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• 2004

The objectives of this research are to establish the criteria of peel occurrence considering the shape of bond terminus and to compare the strength properties of some adhesive joints. The criteria of feel occurrence at the bond terminus was suggested. Peel loads of some adhesive joint(butt joint, T -shape specimen, single lap joint) were determined from tensile tests. Principal stress distributions of these joints were determined from finite element method analysis. Then, peel occurrence was estimated with intensity of stress singularity ' $K_{prin.}$' when the terminus shape was square, with average principal stress when the terminus shape was rounded. The conclusions are summarized as follows; (1) In the non-filleted model(e.g., butt joint, T-shape specimen), principal stress shows singularity at the bond terminus, intensity of stress(principal stress) singularity ' $K_{prin.}$&apso; can use as the criteria of peel occurrence at the bond terminus. (2) In the filleted model(e.g., single lap joint), principal stress doesn't show singularity at the bond terminus. Average principal stress can use as the criteria of peel occurrence at the bond terminus.'t show singularity at the bond terminus. Average principal stress can use as the criteria of peel occurrence at the bond terminus.

• Communications of the Korean Mathematical Society
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• v.30 no.1
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• pp.7-21
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• 2015

We give the characterization of H$\ddot{o}$lder differentiability points and non-differentiability points of the Riesz-N$\acute{a}$gy-Tak$\acute{a}$cs (RNT) singular function ${\Psi}_{a,p}$ satisfying ${\Psi}_{a,p}(a)=p$. It generalizes recent multifractal and metric number theoretical results associated with the RNT function. Besides, we classify the singular functions using the singularity order deduced from the H$\ddot{o}$lder derivative giving the information that a strictly increasing smooth function having a positive derivative Lebesgue almost everywhere has the singularity order 1 and the RNT function ${\Psi}_{a,p}$ has the singularity order $g(a,p)=\frac{a{\log}p+(1-a){\log}(1-p)}{a{\log}a+(1-a){\log}(1-a)}{\geq}1$.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1353-1360
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• 2012

The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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• pp.62-73
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• 2005

The objects of this research are to establish the criteria of peel occurrence considering the shape of bond terminus and to compare the strength properties of adhesive joint of different three type such as butt joint, T-shape, and single lap Joints. The criteria of peel occurrence at the bond terminus was suggested. Peel loads of three type adhesive joint (butt Joint, T-shape specimen, single lap joint) were determined from tensile tests. Principal stress distributions of these joints were determined from finite element method analysis. Then, peel occurrence was estimated with stress singularity factor$(K_{prin})$ when the terminus shape was square, with average principal stress when the terminus shape was rounded. The conclusions are summarized as follows; (1) In the non-filleted model(e.g., butt joint, T-shape specimen), principal stress shows singularity at the bond terminus, intensity of stress(principal stress) singularity $(K_{prin})$ can use as the criteria of peel occurrence at the bond terminus. (2) In the filleted model(e.g., single lap joint), principal stress has not affected singularity at the bond terminus. Average principal stress$(K_{av})$ can use as the criteria of peel occurrence at the bond terminus.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.2
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• pp.59-64
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• 2001

In this paper, we propose an alternate method for determining the uniqueness of the reconstruction of a complex sequence from its phase. Uniqueness constraints could be derived in terms of the zeros of a complex polynomial defined by the DFT of the sequence. However, rooting of complex polynomials of high order is a very difficult problem. Instead of finding zeros of a complex polynomial, the proposed uniqueness criteria show that non-singularity of a matrix can guarantee the uniqueness of the reconstruction of a complex sequence from its phase-only data. It has clear advantage over the rooting method in numerical stability and computational time.

• Bulletin of the Korean Mathematical Society
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• v.54 no.5
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• pp.1471-1483
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• 2017

We classify three-dimensional non-normal semi-terminal singularities.

• Journal of the Korean GEO-environmental Society
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• v.24 no.3
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• pp.5-14
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• 2023

The dry unit weight of the soil can be obtained by measuring the weight of the oven dried soil. According to the Korean Industrial Standards (KS F), oven dried soil at 110±5℃ continuously increases in weight when exposed to air. However, there is no regulation on the weight measurement time of oven dried soil, making it difficult to accurately measure the dry weight. In this study, a method to easily determine the dry weight was presented through the analysis of the weight singularity that appears during weight measurement. The weight singularity represents the smallest value among the measured weights, and is the weight at which the effect of moisture absorption in the air of the sample is minimized. In the course of the experiment, a container was selected using a statistical analysis method, and a photograph of the soil samples were presented using an optical microscope. In addition, the temperature of the weight singularity was measured using a non-contact infrared thermometer. As a result of analyzing the weight singularity of six types of soil, including Jumunjin sand, Naeseong stream sand, Yecheon weathered granite soil, Jeju sand, Sabkha sand, and Ulleung sand, the weight singularity of oven dried sample appeared between 8 and 27 seconds after weight measurement, and the temperature ranged from 103.4 to 108.13℃. The weight decrease rate of the singularity was 0.0066 to 0.0085% depending on the soil samples.

• Communications of the Korean Mathematical Society
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• v.39 no.1
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• pp.127-135
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• 2024

In this paper, we improve Corollary 1 of [4] and then present an example to show that the assertion in the mentioned corollary can not be valid in the singularity case.