• 제어로봇시스템학회논문지
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• 제10권10호
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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.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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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.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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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.

• 대한수학회논문집
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• 제30권1호
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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 $g(a,p)=\frac{a{\log}p+(1-a){\log}(1-p)}{a{\log}a+(1-a){\log}(1-a)}{\geq}1$.

• 대한기계학회논문집A
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• 제36권11호
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• pp.1353-1360
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• 2012

병렬로봇의 구동을 계산하기 위해서 자코비안과 특이점 해석이 필요하다. 기존의 자코비안을 구하는 미분의 방식은 그 계산과정이 복잡하고 기하학적인 의미도 찾기 어렵다. 본 논문에서는 스크류 이론을 사용하여 병렬로봇의 자코비안을 쉽게 구하고 그것의 기하학적인 의미도 구하였다. 뿐만 아니라 특이점도 간단한 형태로 식을 구성할 수 있으며 기하학적인 의미도 가진다. 또한, 스크류 이론의 적용이 5 링크와 같이 간단한 형태의 비 여유구동 로봇뿐만 아니라 다양한 형태의 평면형 여유구동 병렬로봇에도 적용 가능하다는 것을 본 논문에서 제시하였다.

• 한국공작기계학회논문집
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• 제14권5호
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권2호
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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.

• 대한수학회보
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• 제54권5호
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• pp.1471-1483
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• 2017

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

• 한국지반환경공학회 논문집
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• 제24권3호
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• pp.5-14
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• 2023

흙의 건조단위중량은 노건조된 흙의 무게를 측정하여 구할 수 있다. 한국산업표준(KS F)의 규정에 의해 110±5℃로 노건조된 흙은 공기 중에 노출 시 무게가 지속적으로 증가한다. 그러나, 노건조된 흙의 무게 측정 시간에 대한 규정이 없어 정확한 건조무게를 측정하는데 어려움이 있다. 본 연구에서는 무게 측정 시 나타나는 무게 특이점의 분석을 통해 건조무게를 쉽게 결정할 수 있는 방법을 제시하였다. 무게 특이점은 측정된 무게 중 가장 작은 값을 나타내며, 시료의 공기 중 수분 흡수의 영향이 최소화된 무게이다. 실험 과정에서 통계적 분석법을 이용하여 용기를 선택하였고, 광학현미경을 사용하여 시료의 사진을 제시하였다. 또한, 비접촉식 적외선 온도계를 사용하여 무게 특이점의 발생 온도를 측정하였다. 주문진 모래와 내성천 모래, 예천 화강풍화토, 제주도 모래, 사브카 모래, 울릉도 모래 등 6종류의 흙에 대하여 무게 특이점을 분석한 결과, 노건조된 각 시료의 무게 특이점은 무게 측정 후 8~27초 사이에서, 온도는 103.4~108.13℃의 범위에서 나타났다. 특이점의 무게 감소율은 흙 시료에 따라 0.0066~0.0085%로 나타났다.

• 대한수학회논문집
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• 제39권1호
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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.