• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.591-596
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• 1999

In this paper, we present a joint quality control system to be able to accurately control the relative picture quality among the video programs in terms of PSNR. The joint quality control system allows variable bit rate (VBR) for each video program to maintain the pre-determined relative picture quality among the aggregated video programs while keeping a constant sum of the bit rates for all programs to be transmitted over a single constant bit rate (CBR) channel. This is achieved by simultaneous controlling the video encoders to generate VBR video streams at the central controller. Furthermore we also suggest buffer regulation method based on the analysis of the constraints imposed by sender/receiver buffer sizes and total transmission rate. Through various simulation results, it is found that our quality control systems guarantee that the video buffers do not overflow and underflow and the quality control errors do not exceed 0.1 ㏈.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.86-94
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• 1997

This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.384-389
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• 2002

This study was aimed to evaluate the weldability and optimize the welding conditions for flash butt welding of 780MPa grade steel applied to the automotive bumper reinforcement. And then the relationship between the welding conditions and the joint performance relating specifically to coil-joining steel would be established. The effect of welding conditions between flashing and upsetting process was elucidated. Microstructure observation of the joint indicated that the decarburized band was mainly changed with upsetting process. Width of HAZ was also related to the upsetting conditions rather than the flashing conditions. Generally maximum hardness at HAZ was correlated with $C_{eq}$ of steel and the empirical relationship was obtained to estimate the HAZ properties. Tensile elongation at the joint was usually decreased with increasing the initial clamping distance. Investigation of fracture surface after tensile and bending tests reveal that the origin of cracking at the joint was oxide inclusions composed of $SiO_2$, MnO, $Al_2$ $O_3$, and/or FeO. The amount of inclusions was dependent on the composition ratio of Mn/Si in steel. If this ratio was above 4, the amount of inclusions was low and then the resistance to cracking at the joint was enough to maintain the joint performance. It was obtained that the flashing process influenced the conditions for the energy input to establish uniform or non-uniform molten layer, while the upsetting conditions influenced the joint strength. Heat input variable during flashing process was also discussed with the joint properties.

• Nuclear Engineering and Technology
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• v.48 no.5
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• pp.1162-1173
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• 2016

In this paper, we describe a physicomathematical model of the processes that occur in a sodium circuit with a variable flow cross-section in the case of a water leak into sodium. The application area for this technique includes the possibility of analyzing consequences of this leak as applied to sodium-water steam generators in fast neutron reactors. Hydrodynamic processes that occur in sodium circuits in the event of a water leak are described within the framework of a one-dimensional thermally nonequilibrium three-component gas-liquid flow model (sodium-hydrogen-sodium hydroxide). Consideration is given to the results of a mathematical modeling of experiments involving steam injection into the sodium loop of a circulation test facility. That was done by means of the computer code in which the proposed model had been implemented.

• The Korean Journal of Applied Statistics
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• v.21 no.2
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• pp.301-312
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• 2008

Mutual information is a measure of association of explanatory variable for predicting target variable. It is used for variable ranking and variable subset selection. This study is about the Sample-spacing approach which can be used for the estimation of mutual information from data consisting of continuous explanation variables and categorical target variable without estimating a joint probability density function. The results of Monte-Carlo simulation and experiments with real-world data show that m = 1 is preferable in using Sample-spacing.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• Journal of the Korean Mathematical Society
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• v.35 no.3
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• pp.691-712
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• 1998

We consider an M$_1$, M$_2$/G/1/ K retrial queueing system with a finite priority queue for type I calls and infinite retrial group for type II calls where blocked type I calls may join the retrial group. These models, for example, can be applied to cellular mobile communication system where handoff calls have higher priority than originating calls. In this paper we apply the supplementary variable method where supplementary variable is the elapsed service time of the call in service. We find the joint generating function of the numbers of calls in the priority queue and the retrial group in closed form and give some performance measures of the system.