• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.137-146
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• 2021

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG), algorithm of reinforcement learning that rewards behavior according to actions then determines high-reward actions in simulation. DDPG uses off-policy that uses 𝝐-greedy policy for selecting action of current time step and greed policy for the next step. In the simulation, learning is given by negative reward when moving near singulairty, and positive reward when moving away from the singularity and moving to target point. The reward equation consists of distance to target point and singularity, manipulability, and arrival flag. Dual arm manipulators hold long rod at the same time and conduct experiments to avoid singularity by simulated path. In the learning process, if object to be avoided is set as a space rather than point, it is expected that avoidance of obstacles will be possible in future research.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2005.11a
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• pp.365-368
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• 2005

This paper describes the implementation of autonomy in the motion of a small size human robot. Traditional modeling of environment and concept of moving planning have limitations to adapt the change of environment and to implement in real-time operation. To overcome these limitations, we designed a behavior-based control algorithm and applied to robot soccer. Based on experiment, we verify that the behavior-based control algorithm works well in the change of environment.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.64-69
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• 2002

In this study, the optimal dynamic isolation system for gas operated combat weapon has been investigated. For this purpose, firstly, the dynamic behavior of human induced by firing operations has been analyzed through a series of experimental works using the devised test setup. The characteristics of linear impulse has been compared under some conditions of support system. In order to design the optimal dynamic isolation system, parameter optimization process has been performed based on the simplified isolation system under constraints of moving displacement and transmitted force. Finally, the performance of the designed dynamic absorbing system has been evaluated by simulation.

• Korean Institute of Interior Design Journal
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• v.13 no.6
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• pp.48-56
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• 2004

The Affordance, discussed in the theory of ecological perception of environmental psychology, is the concept of perception that deals with inter-relationship between environment and human. It is a theory seeking for gradual evolution, with the change of user experience behavior and the space, by getting feed-backs from the analysis of perception of characteristics of 3-dimensional space and the user as moving entity. Although there has been many attempts to define the Affordance and apply its concept to the architecture, now there's a need to identify the Affordance in the real architectural space, represent Affordance of space and the user inter-relationship in the architecture and apply its design specifically, Thus, the purpose of this study is to present the methodology of applying Affordance in architectural space design by identifying the Affordance of space concept of human experience behavior in the architectural space and analyze its recognition process.

• 한국전산유체공학회:학술대회논문집
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• 2005.04a
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• pp.159-168
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• 2005

Noise generated by the blunt trailing edge of lifting surfaces is investigated in this study using fluid structure interaction theory. First, through the eddy modeling, noise generation doe to the flow instability on the rigid trailing edge is surveyed. Then the behavior of elastic cantileverd beam is investigated. Parametric study based on various material properties is employed to analyze the motion of the beam. Moreover, each eigenmode approach of cantilevered beam is used to find when flow induced vibration is resonant. To analyze elastic behavior of cantilever beam efficiently, moving grid generation technique based on non-conservative form of Navier-Stokes equation is used. Equation of the motion associated with the cantilever beam is discretized by the Galerkin procedure with forced vibration. As a consequence, behavior of the elastic cantilevered beam is stable when the first mode natural frequency of the material is relatively higher than that of flow induced pressure fluctuation.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.6
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• pp.38-43
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• 2003

In this study, the optimal dynamic absorbing system for the gas operated HIF (high implusive force) device has been investigated. For this purpose, firstly, the dynamic behavior of human body induced by impulsive disturbances has been analyzed through a series of experimental works using the devised test setup. The characteristics of linear impulse has been compared under some conditions of support system. In order to design the optimal dynamic absorbing system, the parameter optimization process has been performed based on the simplified isolation system model under constraints of moving displacement and transmitted force. Finally, the performance of the designed dynamic absorbing system has been evaluated by simulation in the actual operating condition.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.10a
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• pp.348-351
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• 2007

Simulations of the buckling behavior of a single wall carbon nanotube(SWCNT) was carried out using molecular dynamics simulation. Molecular dynamics simulations were done with 1fs of time step. Tersoff's potential function was used as the interatomic potential function since it has been proved to be reliable to describe the C-C bonds in carbon nanotubes. Compressive force was applied by moving the top end of the nanotube at a constant velocity. Buckling behavior under compressive load was observed for (15,15) armchair SWCNTs with 2nm of diameter and 24.9nm of length. Buckling load and critical strain is obtained from the MD simulation. Deformation occurred on the top region of the CNT because of fast downward velocity.

• Journal of Information Science Theory and Practice
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• v.2 no.2
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• pp.33-47
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• 2014

Mobile devices are the most important equipment for accessing various kinds of services. These services are accessed using wireless signals, the same used for mobile calls. Today mobile services provide a fast and excellent way to access all kinds of information via mobile phones. Mobile service providers are interested to know the access behavior pattern of the users from different locations at different timings. In this paper, we have introduced an associated tree for analyzing user behavior patterns while moving from one location to another. We have used four different parameters, namely user, location, dwell time, and services. These parameters provide stronger frequent accessing patterns by matching joins. These generated patterns are valuable for improving web services, recommending new services, and predicting useful services for individuals or groups of users. In addition, an experimental evaluation has been conducted on simulated data. Finally, performance of the proposed approach has been measured in terms of efficiency and scalability. The proposed approach produces excellent results.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.1028-1033
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• 2004

The open deck steel bridge is the most common type in railway bridges. Steel I-shaped girders are connected with sleepers directly without ballast and moving train loads are transmitted directly to the girder, so this bridge has weak characteristics on impact. Therefore, considerable accelerations can cause unsatisfactory dynamic behavior of the open deck steel bridge. Especially, Impact created at rail joints can increase the dynamic response of the bridge and this phenomenon would be injurious to passenger comfort. In the present study, dynamic behavior of the open deck steel bridge which has a rail joint is estimated through experimental studies and bridge-train interaction analysis considering surface irregularities by rail joints.

• Structural Engineering and Mechanics
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• v.61 no.1
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• pp.91-103
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• 2017

This paper analyzes the dynamic behavior of the deck of pergola bridges affected by moving loads, specifically high-speed trains. Due to their characteristic advantages, pergola bridges have become a widely used structural typology on high-speed railways. In spite of such wide-spread use, there are few technical bibliographies published in this field. The first part of this paper develops a simple analytical methodology to study the complex dynamic behavior of these double dimensional structures. The second part compares the results obtained by the proposed formulae and the dynamic response obtained with different and gradually more complex FE models. The results obtained by the analytical model are in close agreement with those obtained by the FE models, demonstrating its potential application in the early design stages of this kind of structure.