• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.3 s.303
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• pp.1-10
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• 2005

This paper proposes a novel fault-tolerant gait planning of a hexapod robot considering kinematic constraints. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. It is shown that the conventional fault-tolerant gait of a hexapod robot for forward walking on even terrain may be fallen into deadlock, depending on the configuration of the failed leg. For coping with such deadlock situation, a novel fault-tolerant gait planning is proposed. It can avoid deadlock by adjusting the position of the foot trajectory, and has the same leg sequence and stride length as those of the conventional fault-tolerant gait. To demonstrate the superiority of the proposed scheme, a case study is presented in which a hexapod robot, having walked over even terrain before a locked joint failure, could avoid deadlock and continue its walking by the proposed fault-tolerant gait planning.

• Journal of Navigation and Port Research
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• v.36 no.3
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• pp.197-204
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• 2012

The behavior of floating structures constructed with precast concrete modules is dependent of the behavior of joints between the concrete modules. To accurately predict the floating structure response under the ultimate loading, knowledge of joint behavior is essential. This study aims to investigate the structural behavior of concrete module joints under various configuration of joint and confining stress levels. The shear behavior, shear capacity and crack patterns of shear keys in concrete module have been studied. Test results indicated that the shear capacity of joints increased as shear key inclination increased. In addition, shear capacity of concrete module joint increased with the increase of confining stress levels. The test results were compared with the AASHTO design recommendations. The AASHTO design recommendations underestimated the shear strength of test specimens.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.1
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• pp.148-159
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• 1998

Spot welding palys a key role in increasing productivity and weight reduction of the final products. This paper proposes a systematic approach on the design of spot weld configuration, dealing with the requried number and location of spot weld joints under the given design parameters, such as the applied loads, lap area, and individual spot weld strength. The optimal design of a spot-welded joint is postulated as a state when the safety factors of all spot weld points (i) are evenly distributed and (ii) reach maximum value. A CAD program is developed to arrange the optimal location of each spot weld based on the derived objective function and constraints. The CAD tool integrates the optimization procedure with Finite Element Analysis (FEA) code through an interface. The interface automatically provides geometrical data and mesh configuration for different spot weld locations to FEA model. It also extracts the transmitted load of each spot weld from the FEA code, and allows the optimization code predict an improved arrangement of spot weld locations. The feasibility of the developed approach is demonstrated by the selected examples.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2002.04a
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• pp.88-89
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• 2002

The aims of this study is to realize the structural design for development of a medium scale E-glass/epoxy composite wind turbine blade for a 750KW class horizontal axis wind turbine system. In this study, the various load cases specified by the IEC61400-1 international specification and GL Regulations for the wind energy conversion system were considered, and a specific composite structure configuration which can effectively endure various loads such as aerodynamic and centrifugal loads, loads due to accumulation of ice, hygro-thermal and mechanical loads was proposed. In order to evaluate the structure, the structural analysis for the composite wind turbine blade were peformed using tile finite element method(FEM). In the structural design, the acceptable blade structural configuration was determined through the parametric studies, and the most dominant design parameters were confirmed. In the stress analysis using the FEM, it was confirmed that the blade structure was safe and stable in any various load cases Moreover the safety of the blade root joint with insert bolts, newly devised in this study, was checked against the design fond and the fatigue.

• Journal of Information Processing Systems
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• v.11 no.3
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• pp.483-494
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• 2015

High Efficiency Video Coding (HEVC) is the most recent video codec standard of the ITU-T Video Coding Experts Group and the ISO/IEC Moving Picture Experts Group. The main goal of this newly introduced standard is for catering to high-resolution video in low bandwidth environments with a higher compression ratio. This paper provides a performance comparison between HEVC and H.264/AVC video compression standards in terms of objective quality, delay, and complexity in the broadcasting environment. The experimental investigation was carried out using six test sequences in the random access configuration of the HEVC test model (HM), the HEVC reference software. This was also carried out in similar configuration settings of the Joint Scalable Video Module (JSVM), the official scalable H.264/AVC reference implementation, running on a single layer mode. According to the results obtained, the HM achieves more than double the compression ratio compared to that of JSVM and delivers the same video quality at half the bitrate. Yet, the HM encodes two times slower (at most) than JSVM. Hence, it can be concluded that the application scenarios of HM and JSVM should be judiciously selected considering the availability of system resources. For instance, HM is not suitable for low delay applications, but it can be used effectively in low bandwidth environments.

• International Journal of Reliability and Applications
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• v.12 no.1
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• pp.15-39
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• 2011

This paper deals with the reliability analysis of a complex system with three possibilities at the time of repair. The considered system consists of two subsystems A and Bin series configuration (1-out-of-2: F). Subsystem A has n units which are connected in series whereas subsystem B consists of n units in parallel configuration. The configuration of subsystem A is of 1-out-of-n: F whereas subsystem B is of k-out-of-n: D and k+1-out-of-n: F nature. System has three states: Good, degraded and failed. Supplementary variable technique has been used for mathematical formulation of the model. Laplace transform is being utilized to solve the mathematical equation. Reliability, Availability, M.T.T.F., Busy Period and Cost effectiveness of the system have been computed. The repairs from state $S_7$ to $S_0$, $S_8$ to $S_0$, $S_9$ to $S_0$ and $S_{11}$ to $S_0$ have two types namely exponential and general. Joint probability distribution of repair rate from $S_7$ to $S_0$, $S_8$ to $S_0$, $S_9$ to $S_0$ and $S_{11}$ to $S_0$ is computed by Gumbel-Hougaard family of copula. Some particular cases of the system have also been derived to see the practical importance of the model.

• Journal of Biomedical Engineering Research
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• v.25 no.6
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• pp.531-536
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• 2004

In fracture treatment with external fixators, the inter-fragmentary movements at the fracture site affect the fracture healing process, and these movements are highly related to the stiffness of external fixation systems. Therefore, in order to provide the optimal fracture healing at the fracture site, it is essential to understand the relationship between the stiffness and the system configurations in external fixation system. In this study we investigated the influences of system configuration parameters on the stiffness in the finite element analysis of an external fixation system of a long bone. The system alignment, the geometric and the material non-linearity of the pin, the joint stiffness and the callus formation were considered in the finite element model. In the first, the system stiffness of the developed finite element model was compared with the experiment data for model validation. The consideration of the joint stiffness and nonlinearity of the model improved the system stiffness results. The joint stiffness, the non-alignment of the system decreased the system stiffness while the callus formation increased the system stiffness. The present results provided the biomechanical basis of rational guidelines for design improvements of external fixators and pre-op. planning to maximize the system stiffness in fracture surgery.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.1023-1032
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• 1995

The multiple cooperating robot system plays an important role in the research of modern manufacturing system as the emphasis of production automation is more on the side of flexibility than before. While the kinematic and dynamic analysis of a single robot is performed as an open-loop chain, the dynamic formulation of robot in a multiple cooperating robot system differs from that of a single robot when the multiple cooperating robots form a closed kinematic chain holding an object simultaneously. The object may be any type from a rigid body to a multi-joint linkage. The mobility of the system depends on the kinematic configuration of the closed kinematic chain formed by robots and object, which also decides the number of independent input parameters. Since the mobility is not the same as the number of robot joints, proper constraint condition is sought. The constraints may be such that : the number of active robot joints is kept the same as mobility, all robot joints are active and have interrelations between each joint forces/torques, two robots have master-slave relation, or so on. The dynamic formulation of system is obtained. The formulation is based on recursive dual-number screw-calculus Newton-Eulerian approach which has been used for single robot analysis. This new scheme is recursive and compact symbolically and may facilitate the consideration of the object in real time.

• Proceedings of the KIEE Conference
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• 2006.10d
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• pp.218-221
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• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.1 s.307
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• pp.13-20
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• 2006

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.