• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.4
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• pp.422-432
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• 1992

Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous relationship between the joint and end-effector velocities. This paper establishes some new goals for redundancy resolution at position level by using configuration control approach which has been recently developed. Minimum gravity loading, joint limit avoidance, minimum sensitivity, maximum stiffness and minimum impulse are introduced as redundancy resolution goals. These new goals for redundancy resolution allow more efficient utilizations of the redundant joints based on the desired task requirements. Simple computer simulation examples are given for illustration.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.575-591
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• 2006

In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.

• Coupled systems mechanics
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• v.7 no.6
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• pp.691-705
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• 2018

In this paper, nonlinear displacements of laminated composite beams are investigated under non-uniform temperature rising with temperature dependent physical properties. Total Lagrangian approach is used in conjunction with the Timoshenko beam theory for nonlinear kinematic model. Material properties of the laminated composite beam are temperature dependent. In the solution of the nonlinear problem, incremental displacement-based finite element method is used with Newton-Raphson iteration method. The distinctive feature of this study is nonlinear thermal analysis of Timoshenko Laminated beams full geometric non-linearity and by using finite element method. In this study, the differences between temperature dependent and independent physical properties are investigated for laminated composite beams for nonlinear case. Effects of fiber orientation angles, the stacking sequence of laminates and temperature on the nonlinear displacements are examined and discussed in detail.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.1
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• pp.62-68
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• 2000

Fixtures are used in almost all phases of machining and assembly to position and hold a part accurately. The class of fixture which consists of 3 locators and 1 clamp(3L/1C) is known as the minimal set that can provide form closure which is a kinematic constraint condition for preventing all planar motions. This type of fixtures has advantages in terms of the number of fixture elements required, the time for clamping, and so on. However it is not widely used in industry because reliable loading scheme has not been reported. In this paper, we propose a method to load the class of 3L/1C fixtures using compliant motions. The planner is developed for synthesizing compliant motions to achieve precise final fixture configuration in the presence of sensing and control uncertainties. A novel approach to eliminate uncertainty in part orientation by adding one extra fixture element called an aligning pin is proposed.

• Journal of Astronomy and Space Sciences
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• v.27 no.4
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• pp.309-318
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• 2010

We introduce a technical approach for reducing three-dimensional infrared (IR) spectroscopic data generated by integral field spectroscopy or slit-scanning observations. The first part of data reduction using IRAF presents a guideline for processing spectral images from long-slit IR spectroscopy. Multichannel image reconstruction, Image Analysis and Display (MIRIAD) is used in the later part to construct and analyze the data cubes which contain spatial and kinematic information of the objects. This technic has been applied to a sample data set of diffuse 2.1218 ${\mu}m$ $H_2$ 1-0 S(1) emission features observed by slit-scanning around Sgr A East in the Galactic center. Details of image processing for the high-dispersion infrared data are described to suggest a sequence of contamination cleaning and distortion correction. Practical solutions for handling data cubes are presented for survey observations with various configurations of slit positioning.

• Coupled systems mechanics
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• v.12 no.5
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• pp.445-459
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• 2023

In this study, a cyclic tensile test on a notched butterfly specimen made of woven glass fiber composite was performed on a modified Arcan fixture. During the mechanical test, the sample was monitored with a hybrid stereoscopic system comprised of two visible lights and one infrared camera. The visible light cameras were employed for kinematic measurements using a finite-element-based multiview correlation technique. A semi-hybrid correlation approach was followed, providing Lagrangian temperature fields of the Region of Interest. Due to the complex composite architecture and specimen shape, localized shearing was observed during the tensile loading. Furthermore, asymmetrical damage developed around the notches as revealed by localized strains and thermal hot spots.

• Structural Engineering and Mechanics
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• v.57 no.6
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• pp.1107-1124
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• 2016

Consistent finite strain Plate constitutive relations are derived based on a hyperelastic formulation for an isotropic material. Plate equilibrium equations under finite strain are derived following a static kinematic approach. Three Euler angles and four shear angles, based on Timoshenko beam theory, represent the kinematics of the deformations in the plate cross section. The Green deformation tensor has been expressed in term of a deformation tensor associated with the deformation and stretches of an embedded plate element. Buckling formulation includes the in-plane axial deformation prior to buckling and transverse as well as in-plane shear deformations. Numerical results for a simply supported thick plate under uni-axial compression force are presented.

• Journal of Internet Computing and Services
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• v.10 no.4
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• pp.1-11
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• 2009

Recently there has arisen concern in both the database community and the graphics society about data retrieval from large motion databases because the high dimensionality of motion data implies high costs. In this circumstance, finding an effective distance measure and an efficient query processing method for such data is a challenging problem. This paper presents an elaborate motion query processing system, SMoFinder (Similar Motion Finder), which incorporates a novel kinematic distance measure and an efficient indexing strategy via adaptive frame segmentation. To this end, we regard human motions as multi-linkage kinematics and propose the weighted Minkowski distance metric. For efficient indexing, we devise a new adaptive segmentation method that chooses representative frames among similar frames and stores chosen frames instead of all frames. For efficient search, we propose a new search method that processes k-nearest neighbors queries over only representative frames. Our experimental results show that the size of motion databases is reduced greatly (${\times}1/25$) but the search capability of SMoFinder is equal to or superior to that of other systems.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.3
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• pp.143-151
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• 2001

Machine tool errors have to be characterized and predicted to improve machine tool accuracy. A real-time error compensation system has been developed based on volumetric error synthesis model which is composed of machine tool errors. This paper deals with new algorithm about verification of machine tool errors. This new algorithm uses a simplified volumetric error synthesis model. This simplified model is constructed with only main components among the error components of the machine. The main error components are analyzed by ball bar test of hemispherical helix. The novel measurement method using ball bar system has many advantages which are more efficient, easier to use than conventional measurement system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.703-707
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• 2000

Machine tool errors have to be characterized and predicted to improve machine tool accuracy. A real-time error compensation system has been developed based on volumetric error synthesis model which is composed of machine tool errors. This paper deals with new algorithm about verification of machine tool errors. This new algorithm uses a simplified volumetric error synthesis model. This simplified model is constructed with only main components among the error components of the machines. This main error components are analyzed by three-dimensional helical ball bar test. By substituting result of helical ball bar test fer simplified model, we could find that obtained error components are closed to real error components.