• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.7
• /
• pp.144-153
• /
• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.1
• /
• pp.119-126
• /
• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• Smart Structures and Systems
• /
• v.5 no.3
• /
• pp.241-260
• /
• 2009

Shape control of flexible structures using piezoelectric materials has attracted much attention due to its wide applications in controllable systems such as space and aeronautical engineering. The major work in the field is to find a best control voltage or an optimal placement of the piezoelectric actuators in order to actuate the structure shape as close as possible to the desired one. The current research focus on the investigation of static shape control of intelligent shells using spatially distributed piezoelectric curve beam actuators. The finite element formulation of the piezoelectric model is briefly described. The piezoelectric curve beam element is then integrated into a collocated host shell element by using nodal displacement constraint equations. The linear least square method (LLSM) is employed to get the optimum voltage distributions in the control system so that the desired structure shape can be well matched. Furthermore, to find the optimal placement of the piezoelectric curve beam actuators, a genetic algorithm (GA) is introduced in the computation model as well as the consideration of the different objective functions. Numerical results are given to demonstrate the validity of the theoretical model and numerical algorithm developed.

• The Journal of Asian Finance, Economics and Business
• /
• v.9 no.3
• /
• pp.105-112
• /
• 2022

The current study is at the forefront of examining the theory of principal-agent framework and financing constraints to explain the level of corporate innovation. To boost the firm's level of innovation, this study uses corporate governance and corporate performance as driving factors. The study's secondary goal is to give information on the parallel relationship between corporate governance and the level of corporate innovation. This study used a two-step least square (TSLS) regression analysis to examine such a simultaneous association using secondary data from Indonesian listed businesses from 2000 to 2021, which totaled around 1,910 observations. This study uses the Principal Component Analysis (PCA) tool to test cumulative variances of potential corporate governance indicators such as the total commissioner of the firm (TCOM), total independent commissioner of the firm (INDPCOM), the proportion of institutional ownership (INSOWN), total female commissioner (FEMCOM), CEO duality (CEODUAL), and type of the firm (SOE). As a result, PCA reveals that four of these variables, omitting CEODUAL and SOE, were a corporate governance construct. Furthermore, the study discovered that the amount of firm innovation and corporate governance are related.

• Journal for History of Mathematics
• /
• v.18 no.4
• /
• pp.49-66
• /
• 2005

Finite element Methods(FEM) have been the primary computational methodologies in science and engineering computations for more than half centuries. One of the main limitations of the finite element approximations is that they need mesh which is an artificial constraint, and they need remeshing to solve in some special problems. The advantages in meshfree Methods is to develop meshfree interpolant schemes that only depends on particles, so they relieve the burden of remeshing and successive mesh generation. In this paper we describe the development of meshfree particle Methods and introduce the numerical schemes for Smoothed Particle hydrodynamics, meshfree Galerkin Methods and meshfree point collocation mehtods. We discusse the advantages and the shortcomings of these Methods, also we verify the applicability and efficiency of Meshfree Particle Methods.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.3
• /
• pp.320-326
• /
• 2017

Multistage deep-drawing technology is used widely in the production of mobile phone battery cases to improve productivity and economy. To ensure adequate capacity and rigidity, such cases are fabricated as a rectangular cup with a high slender ratio. The multistage deep-drawing of a rectangular cup entails a high slender ratio, and the heights of the product sides may be non-uniform because of the complicated deformation mechanisms. This causes problems in product assembly that affects the surface quality of the case. This study examined a blank shape that minimizes the height variations of the product to resolve the aforementioned problems. Optimization design and analysis were performed to identify the shape that yields the least variation. The long and short sides of an oval blank were set as the design variables. The objective function was set to yield the lowest height difference, and the thickness reduction rate of the product was set to the target range. In addition, the height of the final shape was set as a constraint. The height difference was minimized successfully using the optimized design. The design process of the initial blank for all rectangular shapes can be automated in the future.

• Strategy21
• /
• s.43
• /
• pp.29-55
• /
• 2018

Arctic sea ice has been retreating as a result of the global warming. Arctic sea ice extent for April 2018 averaged 13.71 million square kilometers. This figure shows far less sea ice compared to the average extent from 1981 to 2010. Meanwhile, 287 times of maritime transits through the Northwest Passage have been made during the 2017 and the first ship traversed the Northern Sea Route without the assistant of ice-breaker in August 2017. Commercialization of the Arctic Passage means significant economic and strategic advantages by shortening the distance. In this article, 'Arctic Passage' means Northern Sea Route along the Arctic coast of Russia and Northwest Passage crossing Canadian Arctic Ocean. As climate changes, the potential feasibility of the Arctic Passage has been drawing international attention. Since navigation in this area remains hazardous in some aspects, IMO adopted Polar Code to promote safe, secure and sustainable shipping through the Arctic Passage. Futhermore, Russia and Canada regulate foreign vessels over the maritime zones with the authority to unilaterally exercise jurisdiction pursuant to the Article 234 of UNCLOS. The dispute over the navigation regime of the arctic passage materialized with Russia proclaimed Dmitrii Laptev and Sannikov Straits as historically belong to U.S.S.R. in the mid 1960s and Canada declared that the waters of the passage are historic internal waters in 1973 for the first time. So as to support their claims, In 1985, Russia and Canada established straight baseline including Northern Sea Route and Northwest Passage. The United States has consistently protested that the Northern Sea Route and Northwest Passage are straits used for international navigation which are subject to the regime of transit passage. Firstly, it seems that Russia and Canada do not meet the basic requirements for acquiring a historic title. Secondly, since the Law of the Sea had adopted before the establishment of straight baseline over the Russian Arctic Archipelago and the Canadian Arctic Archipelago, Ships can exercise at least the right of innocent passage. Lastly, Northern Sea Route and Northwest Passage have fulfilled the both geographical and functional criteria pertaining to the strait used for international navigation under the international law. Especially, should the arctic passage become commercially viable, it can be expected to accumulate the functional criterion. Russia and Canada regulate the ships navigate in their maritime zones by adopting the higher degree of an environmental standard than generally accepted international rules and standard mainly under the Article 234 of UNCLOS. However, the Article 234 must be interpreted restrictively as this contains constraint on the freedom of navigation. Thus, it is reasonable to consider that the Article 234 is limited only to the EEZ of coastal states. Therefore, ships navigating in the Arctic Passage with the legal status of the territorial sea and the international straits under the law of the sea have the right of innocent passage and transit passage as usual.

• The Korean Journal of Financial Management
• /
• v.22 no.1
• /
• pp.1-36
• /
• 2005

In this study, we analyzed determinant factors of leverage ratio and debt maturity for Korean firms in the simultaneous equation system using 2SLS (two stage least square) method under assumption that two variables are jointly determined in the capital structure decision. As a result of the analysis, we found that leverage ratio and debt maturity are positively related. Also, as for determinant factors of debt maturity, agency cost hypothesis, asset maturity matching hypothesis, signalling and liquidity risk hypothesis are all generally supported, and further leverage ratio are significantly positively related with firm size, but negatively related with default risk. However, when we divided samples into groups according to bank debt level and Chaebul affiliation, with contrast to existing study which worked on similar issues with OLS, we found no evidence supporting the argument that the information asymmetry problem is less severe in firms with more bank debt, whereas information asymmetry and financial constraint problems are more severe in non-Chaebul affiliated firms.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.8
• /
• pp.531-540
• /
• 2022

In this paper, we present an algorithm that identifies artillery type and rapidly predicts the impact point based on the IMM filter. The ballistic trajectory equation is used as a system model, and three models with different ballistic coefficient values are used. Acceleration was divided into three components of gravity, air resistance, and lift. And lift acceleration was added as a new state variable. The kinematic condition that the velocity vector and lift acceleration are perpendicular was used as a pseudo-measurement value. The impact point was predicted based on the state variable estimated through the IMM filter and the ballistic coefficient of the model with the highest mode probability. Instead of the commonly used Runge-Kutta numerical integration for impact point prediction, a semi-analytic method was used to predict impact point with a small amount of calculation. Finally, a state variable initialization method using the least-square method was proposed. An integrated algorithm including artillery type identification, impact point prediction and initialization was presented, and the validity of the proposed method was verified through simulation.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.31 no.3
• /
• pp.158-169
• /
• 2019

A probabilistic model that can predict the residual useful lifetime of structure is formulated by using the gamma process which is one of the stochastic processes. The formulated stochastic model can take into account both the sampling uncertainty associated with damages measured up to now and the temporal uncertainty of cumulative damage over time. A method estimating several parameters of stochastic model is additionally proposed by introducing of the least square method and the method of moments, so that the age of a structure, the operational environment, and the evolution of damage with time can be considered. Some features related to the residual useful lifetime are firstly investigated into through the sensitivity analysis on parameters under a simple setting of single damage data measured at the current age. The stochastic model are then applied to the rubble-mound breakwater straightforwardly. The parameters of gamma process can be estimated for several experimental data on the damage processes of armor rocks of rubble-mound breakwater. The expected damage levels over time, which are numerically simulated with the estimated parameters, are in very good agreement with those from the flume testing. It has been found from various numerical calculations that the probabilities exceeding the failure limit are converged to the constraint that the model must be satisfied after lasting for a long time from now. Meanwhile, the expected residual useful lifetimes evaluated from the failure probabilities are seen to be different with respect to the behavior of damage history. As the coefficient of variation of cumulative damage is becoming large, in particular, it has been shown that the expected residual useful lifetimes have significant discrepancies from those of the deterministic regression model. This is mainly due to the effect of sampling and temporal uncertainties associated with damage, by which the first time to failure tends to be widely distributed. Therefore, the stochastic model presented in this paper for predicting the residual useful lifetime of structure can properly implement the probabilistic assessment on current damage state of structure as well as take account of the temporal uncertainty of future cumulative damage.