• Journal of Korean Society of Steel Construction
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• v.21 no.6
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• pp.563-574
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• 2009

This paper briefly describes the fundamental strategies--path-tracing, pin-pointing, and path-switching--in the computational elastic bifurcation theory of geometrically non-linear single-load-parameter conservative elastic spatial structures. The stability points in the non-linear elasticity may be classified into limit points and bifurcation points. For the limit points, the path tracing scheme that successively computes the regular equilibrium points on the equilibrium path, and the pinpointing scheme that precisely locates the singular equilibrium points were sufficient for the computational stability analysis. For the bifurcation points, however, a specific procedure for path-switching was also necessary to detect the branching paths to be traced in the post-buckling region. After the introduction, a general theory of elastic stability based on the energy concept was given. Then path tracing, an indirect method of detecting multiple bifurcation points, and path switching strategies were described. Next, some numerical examples of bifurcation analysis were carried out for a trussed stardome, and a pin-supported plane circular arch was described. Finally, concluding remarks were given.

• Journal of Astronomy and Space Sciences
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• v.23 no.4
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• pp.397-404
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• 2006

Geometric singularity problems are principle difficulties of single-gimbal control moment gyros in spacecraft attitude control. To overcome these singularities, many steering logics have been studied. In this paper, a new null motion steering law is suggested, which is based on the minimization of the directional components of output torque with respect to the required torque. The suggested steering law has been simulated and verified to work well around several critical singular points which have been classified as testing points of avoidance algorithm in previous literatures.

• Journal of Mechanical Science and Technology
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• v.18 no.5
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• pp.780-788
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• 2004

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1500-1505
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• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.677-685
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• 2008

This paper proposes algorithm for the obstacle detection and classification using a single laser scanner. In a measurement data from a laser scanner, there exist points with large differential value called singular points, which can be used to obtain the boundary of an obstacle such that obstacle information can be analyzed. On the other hand, measurement data include a lot of measurement error, which makes it difficult to analyze the accurate obstacle information. To solve this problem, the least square estimation algorithm is used to obtain the accurate information using a single laser scanner, by compensation for the measurement error. This algorithm can be used for the effective obstacle avoidance of mobile robots, and the experimental results are included to demonstrate the effectiveness of the propose algorithm.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.6
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• pp.31-40
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• 2003

Most face recognition systems are based on 2D images and applied in many applications. However, it is difficult to recognize a face when the pose varies severely. Therefore, head pose estimation is an inevitable procedure to improve recognition rate when a face is not frontal. In this paper, we propose a novel head pose estimation algorithm for 3D face recognition. Given the 3D range image of an unknown face as an input, we automatically extract facial feature points based on the face curvature. We propose an Error Compensated Singular Value Decomposition (EC-SVD) method based on the extracted facial feature points. We obtain the initial rotation angle based on the SVD method, and perform a refinement procedure to compensate for remained errors. The proposed algorithm is performed by exploiting the extracted facial features in the normaized 3D face space. In addition, we propose a 3D nearest neighbor classifier in order to select face candidates for 3D face recognition. From simulation results, we proved the efficiency and validity of the proposed algorithm.

• Journal of Astronomy and Space Sciences
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• v.5 no.2
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• pp.111-122
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• 1988

The short and long periodic perturbations and secular perturbation due to the geopotentials of degree $J_2$ and $J_3$ which affect orbital elements of a near-circular orbiting satellite are obtained by the analytical method. The singular points due to a small denominator e in the perturbation equations can be excluded using one of the methods introduced by Taff(1985), which substitutes $e_s=esin\omega,\;e_c=ecos\omega\;and\;\ell=\omega+M$ for the orbital elements e, $\omega$ and M. We determined the mean orbital elements of the meteorological satellite NOAA-10 using the Walter (1967)'s iterative procedure and compared with Brouwer's mean orbital elements determined at NASA. The mean orbital elements a, ⅰand $\Omega$ are consistent with those of NASA but the mean orgital elements e, $\omega$ and M have some deviations from those of NASA. According to the our results, it is not suitable for the polar orbiting satellites to use the Taff's proposal for excluding the singular points, which substitutes e, $\omega$ and M by $e_s=esin(\Omega+\omega),\;e_c=ecos(\Omega+\omega)\;and\;L=\Omega+\omega+M$.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.3 s.303
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• pp.63-72
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• 2005

In this paper, we propose a deformation technique based on Radial Basis Function (RBF) and a blending technique combining the deformed facial component with the original face for a Virtual Aesthetic Surgery (VAS) system. The deformation technique needs the smoothness and the accuracy to deform the fluid facial components and also needs the locality not to affect or distort the rest of the facial components besides the deformation region. To satisfy these deformation characteristics, The VAS System computes the degree of deformation of lattice cells using RBF based on a Free-Form Deformation (FFD) model. The deformation error is compensated by the coefficients of mapping function, which is recursively solved by the Singular Value Decomposition (SVD) technique using SSE (Sum of Squared Error) between the deformed control points and target control points on base curves. The deformed facial component is blended with an original face using a blending ratio that is computed by the Euclidean distance transform. An experimental result shows that the proposed deformation and blending techniques are very efficient in terms of accuracy and distortion.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.1
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• pp.71-77
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• 2001

A flow visualization study using the oil film method and the smoke-laser light sheet arrangement is carried out to investigate the three-dimensional flow pattern around the free end surface region of a finite circular cylinder (aspect ratios of 1.25 and 4.25) mounted on a flat plate. The experiment is performed for the cases of two Reynolds numbers: 5.92${\times}$10$^3$and 1.48${\times}$10(sup)5. Various kinds of singular points on the free-end surface are disclosed from the oil surface flow visualization. The smoke-laser light sheet visualization, to aid in understanding the oil streak-line patterns, clearly demonstrates that a pair of tornado-like vortices marched along the downstream together with a pair of side tip vortices. A topological sketch to characterize the surface flow and the four vortices emanating from the top surface is included.