• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1150-1155
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• 1990

This paper proposes an optimal redundancy resolution of a kinematically redundant manipulator while considering homotopy classes. The necessary condition derived by minimizing an integral cost criterion results in a second-order differential equation. Also boundary conditions as well as the necessary condition are required to uniquely specify the solution. In the case of a cyclic task, we reformulate the periodic boundary value problem as a two point boundary value problem to find an initial joint velocity as many dimensions as the degrees of redundancy for given initial configuration. Initial conditions which provide desirable solutions are obtained by using the basis of the null projection operator. Finally, we show that the method can be used as a topological lifting method of nonhomotopic extremal solutions and also show the optimal solution with considering the manipulator dynamics.

• 한국정밀공학회지
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• 제5권3호
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• pp.20-30
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• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.

• Computers and Concrete
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• 제19권4호
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• pp.405-411
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• 2017

Carbon Fiber Reinforced Plastic (CFRP) has commonly been used to strengthen existing RC structures. Wrapping the whole component with CFRP is an effective method and simple to execute. Besides, specific configuration of CFRP sheets (L, X and T shape) has also been considered in some experiments to examine CFRP effects in advance. This study aimed to provide an optimal CFRP configuration to effectively retrofit the beam-column connection using continuous material topology optimization procedure. In addition, Moved and Regularized Heaviside Functions and penalization factors were also considered. Furthermore, a multi-material procedure was also used to compare with the results from the single material procedure.

• 한국CDE학회논문집
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• 제7권1호
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• pp.34-41
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• 2002

Five-axis NC machining, in general, is utilized in fabricating impellers, turbine blades, marine propellers that can be machined more effectively rather than three-axis machining. There have been many researches concerning tool interference avoidance, optimization of tool orientation. The C-space or Configuration-space was originated from the robotics area, which depicts interference-free joint-values in motion planning. In the paper we propose an optimizing scheme by which the maximum effective-radius of a face-milling cutter can be achieved for each CC(cutter-contact) point. Also the concept of a C-space for a CC point, the effective-radius map for 5-axis face-milling, and some illustrative examples of marine propeller machining, are presented.

• Journal of Welding and Joining
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• 제16권2호
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• pp.100-110
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• 1998

In this paper, the laser weldability of thin gage steels for automobile application is discussed. Welding was carried out with a high power carbon dioxide laser system, and the laser energy was concentrated through a plano-convex lens. Test results showed that the joint gap in the butt welding proved to be one of the critical conditions for an acceptable weld. In the case where the ratio of the gap clearance to the material thickness was slightly bigger than optimal value, the weld strength was reduced showing weld metal fracture. It was possible to obtained a weld penetration ratio of 0.91 when the vertical offset ratio was controlled to be 0.4 or smaller. Results also demonstrated that the weld strength of the lap joint was influenced by travel speed. At the travel speeds lower than 37 mm/s, the weld strength indicated higher value than that of class A recommendation strength of a resistance spot weld based on the KS code. It was clear that the complicated effect of specimen alignment should be considered so as to make a sound weld with high integrity when the laser process was applied to the long weld line.

• Journal of information and communication convergence engineering
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• 제3권1호
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Structural Engineering and Mechanics
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• 제56권4호
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• pp.667-694
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• 2015

The suspended dome system is a new structural form that has become popular in the construction of long-span roof structures. Suspended dome is a kind of new pre-stressed space grid structure that has complex mechanical characteristics. In this paper, an optimum topology design algorithm is performed using the enhanced colliding bodies optimization (ECBO) method. The length of the strut, the cable initial strain, the cross-sectional area of the cables and the cross-sectional size of steel elements are adopted as design variables and the minimum volume of each dome is taken as the objective function. The topology optimization on lamella dome is performed by considering the type of the joint connections to determine the optimum number of rings, the optimum number of joints in each ring, the optimum height of crown and tubular sections of these domes. A simple procedure is provided to determine the configuration of the dome. This procedure includes calculating the joint coordinates and steel elements and cables constructions. The design constraints are implemented according to the provision of LRFD-AISC (Load and Resistance Factor Design-American Institute of Steel Constitution). This paper explores the efficiency of lamella dome with pin-joint and rigid-joint connections and compares them to investigate the performance of these domes under wind (according to the ASCE 7-05), dead and snow loading conditions. Then, a suspended dome with pin-joint single-layer reticulated shell and a suspended dome with rigid-joint single-layer reticulated shell are discussed. Optimization is performed via ECBO algorithm to demonstrate the effectiveness and robustness of the ECBO in creating optimal design for suspended domes.

• 대한기계학회논문집
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• 제15권6호
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• pp.2015-2025
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• 1991

본 연구에서는 무거운 부하중량(payload)을 운반하는 평행구동기구(parallel drive mechanism)를 가진 2 자유도 수직 로봇 조작기의 마지막 링크를 고속화 및 작업 영역의 확대를 위해 경량의 길이가 긴 링크로 구성하고, 동적 해석 및 제어를 위해 이 를 수직면상에서 회전하는 첨단질량을 가진 Euler-Bernoulli 외팔보로 모델링하였다. Hamilton의 원리를 적용하여 계의 지배방정식을 구하였으며 이를 조작기의 최종 자세 (configuration)에 대한 교란변수들(periturbed variables)을 도입하여 이산시간계 상 태방정식으로 표시하였다. 계의 상태방정식에 대해 디지탈 최적제어 및 최적관측기 이론을 적용하여, 유연한 조작기의 위치 및 진동제어를 병해하여 수행하는 제어기를 설계하였으며, 제어기의 효율성 및 적용성을 검토하기 위하여 수치해석 및 실험을 행 하였고 이들 결과를 비교, 검토하였다.

• 대한산업공학회지
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• 제39권4호
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• pp.290-297
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• 2013

The increasing level of operation in high-tech industry is likely to require ever more complex structure in reliability problem. Furthermore, system failures are more significant on society as a whole than ever before. Reliability redundancy optimization problem (RROP) plays a important role in the designing and analyzing the complex system. RROP involves selection of components with multiple choices and redundancy levels for maximizing system reliability with constraints such as cost, weight, etc. Meanwhile, previous works on RROP dealt with system with perfect failure detection, which gave at most a good solution. However, we studied RROP with imperfect failure detection and switching. Using absorbing Markov Chain, we present not a good solution but the optimal one. In this study, the optimal system configuration is designed with warm and cold-standby redundancy for k-out-of-n system in terms of MTTF that is one of the performance measures of reliability.

• Steel and Composite Structures
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• 제29권5호
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• pp.635-645
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• 2018

Beam-column joints play a significant role in static and dynamic performances of reinforced concrete frame structures. This study contributes a numerical approach of topologically optimal design of carbon fiber reinforced plastics (CFRP) to retrofit existing beam-column connections with crack patterns. In recent, CFRP is used commonly in the rehabilitation and strengthening of concrete members due to the remarkable properties, such as lightweight, anti-corrosion and simplicity to execute construction. With the target to provide an optimal CFRP configuration to effectively retrofit the beam-column connection under semi-failure situation such as given cracks, extended finite element method (X-FEM) is used by combining with multi-material topology optimization (MTO) as a mechanical description approach for strong discontinuity state to mechanically model cracked structures. The well founded mathematical formulation of topology optimization problem for cracked structures by using multiple materials is described in detail in this study. In addition, moved and regularized Heaviside functions (MRHF), that have the role of a filter in multiple materials case, is also considered. The numerical example results illustrated in two cases of beam-column joints with stationary cracks verify the validity, benefit and supremacy of the proposed method.