• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1027-1033
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• 2015

For the attitude control of spacecraft, two variable-speed control moment gyros are proposed as main actuators in the article. Since a variable-speed control moment gyro (VSCMG) makes two control torques (gyroscopic torque and reaction torque), two VSCMGs are sufficient for controlling 3-axes attitude. Additionally, there are no singular conditions for two non-parallel VSCMGs. Since gyroscopic torque is usually much greater than reaction torque, the control performances of approximately 3 axes may not be the same. However, several missions can be accomplished by controlling two axes. For such missions, a selective axes control method is proposed. The method selects two axes for a certain task and controls the attitude of the selected axes. For the remaining axis, angular speed is controlled for stabilization. A hardware-in-the-loop simulation has been used to test VSCMG modules and to verify the proposed method. Two VSCMGs can be alternative actuators for small satellites.

• Structural Engineering and Mechanics
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• 제3권2호
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• pp.163-172
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• 1995

A simple numerical method is applied to calculate the large deflection of a cantilever beam under an elastic-plastic deformation by dividing the deformed axis into a number of small segments. Assuming that each segment can be approximated as a circular arc, the method allows large deflections and plastic deformation to be analyzed. The main interests are the load-deflection relationship, curvature distribution along the beam and the length of the plastic region. The method is proved to be easy and particularly versatile. Comparisons with other studies are given.

• 지구물리
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• 제6권2호
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• pp.89-97
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• 2003

For safety evaluation of a rockfill dam, it is often necessary to investigate spatial distribution and dynamic characterization of weak zones such as fractures. For this purpose, both seismic and electric methods are adopted together in this research. The former employs the multichannel analysis of surface waves (MASW) method, and aims at the mapping of 2-D shear-wave velocity (Vs) profile along the dam axis that can be associated with dynamic properties of filled materials. The latter is carried out by DC- resistivity survey with a main purpose of mapping of spatial variations of physical properties of dam materials. Results from both methods are compared in their signature of anomalous zones. In addition, downhole seismic survey was carried out at three points within the seismic survey lines and results by downhole seismic survey are compared with the MASW results. We conclude that the MASW is an efficient method for dynamic characterization of dam-filling materials, and also that joint analyses of these two seemingly unrelated methods can lead to an effective safety evaluation of rock-fill dam.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 B
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• pp.749-751
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• 2004

This paper analyzed the characteristics of the claw pole PM step motor by using 3D FEM. In case of analysing this type of motor, 3 dimensional analysis is necessary for an accurate analysis due to the magnetizing component of the z-axis direction. As a main design variable, the magnetization, width and the effects of skewing was selected. The variation of the detent torque and the back EMF depending on the shape of the pole is also shown.

• 한국정밀공학회지
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• 제15권7호
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• pp.52-60
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• 1998

In optical disc system, 4-wire actuator has undesired tilt which degenerates the performance of RF signal. This tilt occurs from moment around the axis parallel to the tangential direction of the disk. The main reason of the moment is the coupling effect between focus driving system and tracking driving system. This paper constructed tilt mechanism and analyzed tilt quantity due to the moment based on structural analysis and magnetic field analysis. And the experiment about tilt was executed. The results were compared and discussed about the difference. Then, the design method for reducing tilt angle was suggested.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.751-754
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• 2004

This paper presents a design of the directional radiation pattern by using the structural-acoustic interaction. For this purpose, prediction of the pressure distribution of the field points and radiation pattern of the structural-acoustic coupling system is shown. In order to get a strong coupling, coupled system that has a finite space and a semi-infinite space separated by two flexible walls and an opening is selected. A volume interaction can be occurred in structure boundary and a pressure interaction can be happened in the opening boundary. The coupled system is maximized the radiation power on the main axis and minimized the side lobe level.

• 반도체디스플레이기술학회지
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• 제18권1호
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• pp.102-104
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• 2019

Registering different kinds of clinical images widely used in diagnostic and surgery planning. However, cause of tumor growth or effected by gravity, human tissue has plenty of non-rigid deformation with clinically. Non-rigid registration allows the mapping of straight lines to curves. Therefore, such local deformation makes registration more complicated. In this work, we mainly introduce intra-subject, inter-modality registration. This paper mainly studies the nonlinear registration method of 2D medical image registration. The general medical image registration algorithm requires manual intervention, and cost long registration time. In our work to reduce the registration time in rough registration step, the barycenter and the direction of main axis of the image is calculated, which reduces the calculation amount compared with the method of using mutual information.

• Nonlinear Functional Analysis and Applications
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• 제28권1호
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• pp.57-79
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• 2023

We investigate the existence and uniform attractivity of solutions of a class of functional integral equations which contain a number of classical nonlinear integral equations as special cases. Using the technique of measures of noncompactness and a fixed point theorem of Darbo type we prove the existence of solutions of these equations in the Banach space of continuous and bounded functions on the nonnegative real half axis. Our results extend and improve some known results in the recent literature. An example illustrating the main result is presented in the last section.

• 대한수학회보
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• 제61권3호
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• pp.585-595
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• 2024

We show that a pseudo-Anosov map constructed as a product of the large power of Dehn twists of two filling curves always has a geodesic axis on the curve graph of the surface. We also obtain estimates of the stable translation length of a pseudo-Anosov map, when two filling curves are replaced by multicurves. Three main applications of our theorem are the following: (a) determining which word realizes the minimal translation length on the curve graph within a specific class of words, (b) giving a new class of pseudo-Anosov maps optimizing the ratio of stable translation lengths on the curve graph to that on Teichmüller space, (c) giving a partial answer of how much power is needed for Dehn twists to generate right-angled Artin subgroup of the mapping class group.