• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.158-167
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• 1994

The design concept of varaiable structure control is useful not only to stochasic systems but also to adaptive control systems. The Dynamic equation of vertical three linkage robot was derived. And it was simplyfied according to the scheme of control strategy. And we specify the form of model. Thereafter the error dynamic equation was derived between the real state of the plant and state of the model. Some simulations were performed to control robot manipulator applying the methodology of the variable structure model following adaptive control.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.3
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• pp.385-392
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• 2006

This paper proposes a new stroke extraction algorithm for phoneme segmentation, which is one of main techniques for off-line handwritten Hangul recognition. The proposed algorithm extracts vertical, slant, and horizontal strokes from phonemes using run-length. The run-length of vertical or slant strokes becomes the width, and also the number of horizontal run-lengths the width. After extracting horizontal strokes from phonemes, the algorithm links two continuous vertical or slant stokes with run-lengths of the strokes' width to represent the features of a character. The extracted strokes can be utilized to recognize a character, using template matching of strokes, which is being adopted in on-line handwritten Hangul recognition.

• Earthquakes and Structures
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• v.8 no.5
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• pp.1191-1214
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• 2015

The Theory of Plastic Mechanism Control (TPMC) has been recently extended to the case of Eccentrically Braced Frames (EBFs) with inverted Y-scheme, i.e., EBFs with vertical links. In this paper a further validation of the design procedure, based on TPMC, is provided by means of Incremental Dynamic Analyses (IDA) pointing out the fulfilment of the design goal, i.e., the development of a pattern of yielding consistent with the collapse mechanism of global type where all the links are yielded and all the beams are yielded at their ends while all the columns and the diagonal braces remain in elastic range with the only exception of the base sections of first storey columns. In particular, a study case is designed according to both TPMC and Eurocode 8 provisions and the corresponding seismic performances are investigated by both push-over and IDA analyses. The results show the different performances obtained in terms of pattern of yielding, maximum interstorey drift, link plastic rotation demand and sharing of the seismic base shear between the moment-resisting part and the bracing part of the structural system. The seismic performance improvement obtained by means of TPMC, compared to Eurocode 8 provisions, is pointed out.

• Structural Engineering and Mechanics
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• v.47 no.6
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• pp.881-898
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• 2013

This paper describes analytical investigation into a new dual function system including a couple of shear links which are connected in series using chevron bracing capable to correlate its performance with magnitude of earthquakes. In this proposed system, called Chevron Knee-Vertical Link Beam braced system (CK-VLB), the inherent hysteretic damping of vertical link beam placed above chevron bracing is exclusively utilized to dissipate the energy of moderate earthquakes through web plastic shear distortion while the rest of the structural elements are in elastic range. Under strong earthquakes, plastic deformation of VLB will be halted via restraining it by Stopper Device (SD) and further imposed displacement subsequently causes yielding of the knee elements located at the bottom of chevron bracing to significantly increase the energy dissipation capacity level. In this paper first by studying the knee yielding mode, a suitable shape and angle for diagonal-knee bracing is proposed. Then finite elements models are developed. Monotonic and cyclic analyses have been conducted to compare dissipation capacities on three individual models of passive systems (CK-VLB, knee braced system and SPS system) by General-purpose finite element program ABAQUS in which a bilinear kinematic hardening model is incorporated to trace the material nonlinearity. Also quasi-static cyclic loading based on the guidelines presented in ATC-24 has been imposed to different models of CK-VLB with changing of vertical link beam section in order to find prime effectiveness on structural frames. Results show that CK-VLB system exhibits stable behavior and is capable of dissipating a significant amount of energy in two separate levels of lateral forces due to different probable earthquakes.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2006.05a
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• pp.211-217
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the teaming control field was teaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.

• Journal of Korea Society of Industrial Information Systems
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• v.11 no.2
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• pp.40-47
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work the authors presented an iterative precision of linear decentralized learning control based on p-integrated teaming method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the loaming control field was learning in robots doing repetitive tasks such as on a]1 assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.140-150
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• 2002

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystems, i.e., the chassis subsystem and the track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. In this study, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical terce and the distance of an arbitrary track moved in the driving direction along the track. These distances and vertical forces obtained are used to get the deformation and sinkage of a terrain. The FEM(Finite Element Method) is adopted to analyze the interaction between tracked vehicle and terrain. The terrain is represented by a system of elements wish specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of isotropic soils are simulated.

• Communications for Statistical Applications and Methods
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• v.27 no.3
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• pp.385-395
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• 2020

We present a new maximum likelihood approach to estimate demographic history using genomic data sampled from two populations. A demographic model such as an isolation-with-migration (IM) model explains the genetic divergence of two populations split away from their common ancestral population. The standard probability model for an IM model contains a latent variable called genealogy that represents gene-specific evolutionary paths and links the genetic data to the IM model. Under an IM model, a genealogy consists of two kinds of evolutionary paths of genetic data: vertical inheritance paths (coalescent events) through generations and horizontal paths (migration events) between populations. The computational complexity of the IM model inference is one of the major limitations to analyze genomic data. We propose a fast maximum likelihood approach to estimate IM models from genomic data. The first step analyzes genomic data and maximizes the likelihood of a coalescent tree that contains vertical paths of genealogy. The second step analyzes the estimated coalescent trees and finds the parameter values of an IM model, which maximizes the distribution of the coalescent trees after taking account of possible migration events. We evaluate the performance of the new method by analyses of simulated data and genomic data from two subspecies of common chimpanzees in Africa.

• Journal of Electrical Engineering and Technology
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• v.1 no.2
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Proceedings of the Korean Geotechical Society Conference
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• 1991.10a
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• pp.255-270
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• 1991

In recent years. finite element methods have been used with increasing effectiveness in analysis of displacements and stresses within soil masses. However, one of the weakest links in the analytical representations used in these methods is the models of the material behaviour. Herein is discribed a modification to the finite element methods that allows solution problems with realistic stress-strain relation for soils. A finite element program for the precision prediction of the stress distribution within foundation has been developed using the elasto-plastic Work-Hardening model. The developed program is verified by comparing the results of this study with the tested results for Sacramento river sand. The main results obtained from the numerical examples are as follows: The vertical total stress increments are insensitive to drainage and constitutive equation of materials. The horizontal total stress increments are considerably affected by the drainage and constitutive equation of materials. The maximum shear stresses are affected by the drainage only in elasto-ptastic meterirals. The excess pore water pressures and the volumetric strains not only are considerably affected by the constitutive equation of materials. but also have almost similar distribution.