• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Journal of the Korea Safety Management & Science
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• v.4 no.2
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• pp.11-22
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• 2002

In this study, an asymmetric lifting posture prediction model was developed, which was a three-dimensional model with 12 links and 23 degrees of freedom open kinematic chains. Although previous researchers have proposed biomechanical, psychophysical, or physiological measures as cost functions, for solving redundancy, they lack in accuracy in predicting actual lifting postures and most of them are confined to the two-dimensional model. To develop an asymmetric lifting posture prediction model, we used the resolved motion method for accurately simulating the lifting motion in a reasonable time. Furthermore, in solving the redundant problem of the human posture prediction, a moment weighted Joint Range Availability (JRA) was used as a cost function in order to consider dynamic lifting. However, it is known that the moment weighted JRA as a cost function predicted the lower extremity and L5/S1 joint motions better than the upper extremities, while the constant weighted JRA as a cost function predicted the latter better than the former. To compensate for this, we proposed a hybrid moment weighted JRA as a new cost function with moment weighted for only the lower extremity. In order to validate the proposed cost function, the predicted and real lifting postures for various lifting conditions were compared by using the root mean square(RMS) error. This hybrid JRA reduced RMS more than the previous cost functions. Therefore, it is concluded that the cost function of a hybrid moment weighted JRA can be used to predict three-dimensional lifting postures. To compare with the predicted trajectories and the real lifting movements, graphical validations were performed. The results also showed that the hybrid moment weighted cost function model was found to have generated the postures more similar to the real movements.

• Structural Engineering and Mechanics
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• v.88 no.5
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• pp.501-519
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• 2023

This paper introduces a new hybrid structural connection joint that combines shear walls with section steel beams, fundamentally resolving the construction complexity issue of requiring pre-embedded connectors in the connection between shear walls and steel beams. Initially, a quasi-static loading scheme with load-deformation dual control was employed to conduct low-cycle repeated loading experiments on five new connection joints. Data was acquired using displacement and strain gauges to compare the energy dissipation coefficients of each specimen. The destruction process of the new connection joints was meticulously observed and recorded, delineating it into three stages. Hysteresis curves and skeleton curves of the joint specimens were plotted based on experimental results, summarizing the energy dissipation performance of the joints. It's noteworthy that the addition of shear walls led to an approximate 17% increase in the energy dissipation coefficient. The energy dissipation coefficients of dog-bone-shaped connection joints with shear walls and cover plates reached 2.043 and 2.059, respectively, exhibiting the most comprehensive hysteresis curves. Additionally, the impact of laminated steel plates covering composite concrete floors on the stiffness of semi-rigid joint ends under excessive stretching should not be disregarded. A comparison with finite element analysis results yielded an error of merely 2.2%, offering substantial evidence for the wide-ranging application prospects of this innovative joint in seismic performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.538-541
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• 1995

Joint flexibilities and frictional uncertainties are known to be a major cause of performance degration in motion control systems. This paper investigates the modeling and compensation of these undesired effects. A hybrid controller, which consists of a predictive controller and a neural network controller, is designed to overcome these undesired effects. Also learning scheme for friction uncertainies, which don't interfere with feedback controller dynamics, is discussed. Through simulation works with two inetia-torsional spring system having Coulomb friction, the effectiveness of the proposed hybrid controller was tested. The proposed predictive & neural network hybrid controller shows better performance over one when only predictive controller used.

• Proceedings of the KWS Conference
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• 2008.05a
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• pp.30-30
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• 2008

• Proceedings of the Korean Society For Composite Materials Conference
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• 2004.10a
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• pp.83-87
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• 2004

In this work, the cure cycle of co-cured metal/composite structure was investigated to decrease fabricating thermal residual stresses between the metal and the composite material. DSC (Differential scanning calorimetry) experiment and static lap shear test of co-cured aluminum/composite double lap joint as well as the curvature experiment of co-cured steel/composite strip were performed to investigate the effect of curing cycle on the thermal residual stress of co-cured hybrid structures. From the experiments, it was found that post curing method after abrupt cooling of co-cured aluminum/composite hybrid structure at certain point of degree of cure during curing process could eliminate fabricating the thermal residual stresses.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2004.04a
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• pp.127-130
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• 2004

In this paper, active shape control of composite structure actuated by shape memory alloy (SMA) wires is presented. Hybrid composite structure was established by attaching SMA actuators on the surfaces of graphite/epoxy composite beam using bolt-joint connectors. SMA actuators were activated by phase transformation, which induced by temperature rising over austenite finish temperatures. In this paper, electrical resistive heating was applied to the hybrid composite structures to activate the SMA actuators. For faster and more accurate shape or deflection control of the hybrid composite structure, PID feedback controller was designed from numerical simulations and experimentally applied to the SMA actuators.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.3
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• pp.246-254
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• 2001

In this paper, we described an approach to the automation of visual inspection of BGA solder joint defects of surface mounted components on printed circuit board by using neural network. Inherently, the BGA solder joints are located underneath its own package body, and this induces a difficulty of taking good image of the solder joints by using conventional imaging systems. To acquire the cross-sectional image of BGA sol-der joint, X-ray cross-sectional imaging method such as laminography and digital tomosynthesis has been cur-rently utilized. However, the cross-sectional image obtained by using laminography or DT methods, has inher-ent blurring effect and artifact. This problem has been a major obstacle to extract suitable features for classifi-cation. To solve this problem, a neural network based classification method is proposed int his paper. The per-formance of the proposed approach is tested on numerous samples of printed circuit boards and compared with that of human inspector. Experimental results reveal that the method provides satisfactory perform-ance and practical usefulness in BGA solder joint inspection.

• Steel and Composite Structures
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• v.45 no.1
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• pp.1-21
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• 2022

In the structural analysis of steel frames, joints are generally considered as rigid or hinged considering their moment transfer ability. However, the first studies conducted with the beginning of the 20th century showed that the joints do not actually fit these two definitions. In reality, a joint behaves between these two extreme points and is called semi-rigid. Including the actual state of the joint in the structural analysis provides significant economic advantages, so the subject is an intense field of study today. However, it does not find enough application area in practice. For this reason, a large-scale literature published from the first studies on the subject to the present has been examined within the scope of the study. Three important points have been identified in order to examine a joint realistically; modelling the load-displacement relationship, performing the structural analysis and how to design. Joint modelling methods were grouped under 7 main headings as analytical, empirical, mechanical, numerical, informational, hybrid and experimental. In addition to the moment-rotation, other important external load effects like axial force, shear and torsion were considered. Various evaluations were made to expand the practical application area of semi-rigid connections by examining analysis methods and design approaches. Dynamic behaviour was also included in the study, and besides column-beam connections, other important connection types such as beam-beam, column-beam-cross, base connection were also examined in this paper.

• Journal of Welding and Joining
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• v.25 no.6
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• pp.11-16
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• 2007