• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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• pp.27-36
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• 1992

This paper proposes a numerical method of motion planning for manipulators using Foruier series. For a redundant manipulator, we predetermine the trajectories of redundant joints in terms of the Nth partial sum of the fourier series. then the optimal coefficients of the fourier series are searched by the Powell's method. For a nonredundant or redundant manipulator, CS02T-continuous smooth joint trajectory for a point-to-point task can be obtained while considering the frequency response. We apply the proposed method to the 3-link planar manipulator and the PUMA 560 manipulator. To show the validity of the proposed method, we analyze solutions by the Fast Fourier Transform (FFT). Also, several features are discussed to obtain an optimal solution.

• Journal of the Korean Geotechnical Society
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• v.32 no.9
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• pp.17-27
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• 2016

Parial drainage characteristics of clayey silt with low plasticity from the west coast (Incheon and Hwaseong) was analyzed using CPTU based existing correlation equations and compulsory replacement method. Generally, the estimated $OCRs={\kappa}{\cdot}((q_t-{\sigma}_{vo})/{\sigma}^{\prime}_{vo})$ using Powell and Quartman(1988) were higher than those obtained by the oeodometer tests. These trends were noticeable for the layers containing a lot of silty and sand soils. The assessment of partial drainage conditions was performed through Schnaid et al. (2004)'s equation; it is based on plotting the normalized cone resistance, $Q_t$ versus the pore pressure parameter, $B_q$ in combination with the strength incremental ratio, $s_u/{\sigma}^{\prime}_{vo}$ to the CPTU data. It is evident that more than half of the data fall in the range where $B_q$ < 0.3, corresponding to the domain in which the partial drainage prevails when testing normally consolidated soils at a standard rate of penetration (2 cm/s). To estimate the replacement depth of clayey silt with low plasticity, back analysis was carried out to evaluate the internal friction angle based on where the design depths are equal to the checked depths using bearing capacity equation. The internal friction angels obtained from the back analysis tended to increase as the plasticity index decreases, which is ranged approximately from ${\varphi}^{\prime}=2^{\circ}$ to ${\varphi}^{\prime}=7^{\circ}$.