• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1093-1098
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• 2000

This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.

• International Journal of Ocean System Engineering
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• v.2 no.2
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• pp.63-70
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• 2012

This paper presents a new curvature based kinematic displacement theory and a numerical method to calculate the planar displacement of structures from a geometrical viewpoint. The theory provides an opportunity to satisfy the kinematic equilibrium of a planar structure using a progressive numerical approach, in which the cross sections are assumed to remain plane, and the deflection curve was evaluated geometrically using the curvature values despite being solved using differential equations. The deflection curve is parameterized with the arc-length, and was taken as an assembly of the chains of circular arcs. Fast and accurate solutions of most complex deflections can be obtained with few inputs.

• Korean Journal of Applied Biomechanics
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• v.15 no.3
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• pp.133-142
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• 2005

The purpose of this study was to compare of the kinematic variables from takeoff preparation to takeoff used by long jumpers who recorded over 8meters in 2002 Busan Asian Game and 2003 Daegu Universiade and 2001 national championship. The kinematic characteristics from the last three stride to takeoff at the takeoff board were analyzed such as velocities, heights and angles. The conclusion were as follows; In order to record over 8meters the national long jumpers should have under 5cm height variation at the penultimate stride of the run-up. In the approach phase the horizontal velocity of the jumpers should reach to 10m/s in touchdown at takeoff board The vertical velocity must have 3.75m/s simultaneously in order to record 8meters. The jumpers need to continue talent of the horizontal velocity in touchdown at takeoff board and require jumping power of the takeoff leg at takeoff board The appropriate body variation range ratio between takeoff and touchdown should be 1.2 vs 1 and the trunk angle at touch down on the board should be close to the erect posture for higher body flight.

• Structural Engineering and Mechanics
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• v.56 no.3
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• pp.369-383
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• 2015

In this study, effect of various material hardening models based on Holloman's isotropic, Ziegler's linear kinematic, non-linear kinematic and mixture of the isotropic and nonlinear kinematic hardening laws on springback prediction of titanium alloy (Ti-3Al-2.5V) in a tube rotary draw bending (RDB) process was investigated with presenting the keynotes for a comprehensive step by step ABAQUS simulation. Influence of mandrel on quality of the final product including springback, wall-thinning and cross-section deformation of the tube was investigated, too. Material parameters of the hardening models were obtained based on information of a uniaxial test. In particular, in the case of combined iso-nonlinear kinematic hardening the material constants were calibrated by a simple approach based on half-cycle data instead of several stabilized cycles ones. Moreover, effect of some material and geometrical parameters on springback was carried out. The results showed that using the various hardening laws separately cannot describe the material hardening behavior correctly. Therefore, it is concluded that combining the hardening laws is a good idea to have accurate springback prediction. Totally the results are useful for predicting and controlling springback and cross-section deformation in metal forming processes.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1587-1592
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• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.16 no.1
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• pp.27-40
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• 1998

This paper addresses the suitability of GPS positioning technology to monitoring deformation and movement of structures. The first part of the study is an empirical quantitative study of the repeatability of GPS observations and the second part is a performance evaluation of kinematic GPS, which requires only a few minutes per a point, for monitoring deformation of an engineering structure. On the test network for monitoring of a earth am, four observations have been conducted repeatedly on different seasons and water levels. The reference network was observed in static mode, and monitoring points were observed respectively in rapid-static mode as well as in kinematic mode in each epoch and then the results were compared with those obtained by conventional surveying techniques. The repeatability of baseline vectors to better than average 7 mm in three dimensions was achieved in base line observations between reference points and also the unclosure of reference networks showed the range of 4 ppm to 27 ppm. Compared with conventional surveying techniques, the kinematic approach showed the differences of 3∼4 m in slope distances which were observed from reference points to monitoring points, and showed the differences of 4∼8 m in height. It was ascertained that the kinematic GPS technology provides an efficient alternative to deformation monitoring by conventional means which are capable of detecting movements in the order of 5 mm.

• Economic and Environmental Geology
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• v.47 no.2
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• pp.121-131
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• 2014

The stability of rock slope is mainly controlled by the orientation and shear strength of discontinuties in rock mass. Therefore, in kinematic analysis, the orientation of the combination of discontinuities and slope face is examined to determine if certain modes of failure can be occurred. In previous kinematic analysis, a representative orientation of the slope face and mean orientation of discontinuity set were used as input parameters. However, since the orientations of slope face varies according to locations of measurement, the representative slope face orientation could cause misunderstanding for kinematic instability. In addition, since the orientations of each discontinuity are scattered in the same discontinuity set, there is the possibility that uncertainties are involved in the procedure of kinematic analysis. Therefore, in this study, the detailed digital topographic map was used to obtain the orientation of slope face. In addition, the probabilistic analysis approach was utilized to deal properly with the uncertainties in discontinuity orientation. The proposed approach was applied to steep slopes in mountain road located in Baehuryeong, Chunncheon city, Gangwon-Do. The analysis results obtained from the deterministic and probabilistic analysis were compared to check the feasibility of proposed the analysis.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.217-220
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• 1996

In this paper, a fully geometrical method for the determination of the workspace of a 6-DOF parallel manipulator is presented using the concept of 4-bar linkage. The reachable and dexterous can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints are developed. The proposed method is verified by simulation.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.181-182
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• 2010

For real-time displacement monitoring of large-scale structures, the high-rate (>1 Hz) GPS data processing is necessary, which is not possible even for the scientific GPS data processing softwares. Since the baseline is generally very short in this case, most of the atmospheric effects are removed, resulting in the unknowns of position and integer ambiguity. The number of unknowns in real-time kinematic GPS positioning makes the positioning impossible with usual approach, thus two-step approach is tested in this study.