• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.615-620
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• 1989

Recently industrial robots are often used together with positioners to enhance the system performance for arc welding. In this paper, the redundancy control method is proposed for the robot-positioner system which is modeled as one kinematic model of 7 degrees of freedom. Also, the manipulability measure based on the Jocobian matrix is utilized to visualize the distribution of manipulability in a given section of the working space. An algorithm for the manipulability maximazation in a given task is developed and applied to the robot and positioner system. The simulation results are given in the case of straight line following.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.10 s.181
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• pp.2469-2476
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• 2000

The meshing of the domain has long been the major bottleneck in performing the finite element analysis. Research efforts which are so-called meshfree methods have recently been directed towards eliminating or at least easing the requirement for meshing of the domain. In this paper, a new meshfree method for solving nonlinear boundary value problem, based on the bubble packing technique and Delaunay triangle is proposed. The method can be efficiently implemented to the problems with singularity by using formly distributed nodes.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.100-105
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• 1992

A mathematical model is developed for a CSTR in which free radical solution polymerization of methyl methacrylate(MMA) takes place. It turns out that five ordinary differential equations are to be treated simultaneously in order to predict the reactor performance. Although the reaction proceeds under the conditions of relatively low temperature and pressure, the system shows very complex bifurcation features due to the diffusion limitation (gel effect) and the temperature dependence of the kinetic parameters and physical properties. The effects of various system parameters on the reactor performance as well as on the polymer properties are investigated by using the bifurcation analysis. The application of the singularity theory enables us to divide the parameter space into several different regions, in each of which the system takes a unique steady state structure. Under certain circumstances, complex dynamic features such as HB points and limit cycles are observed and these should be taken into consideration in the reactor design.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.1
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• pp.49-56
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• 2002

The Z-map is a special farm of discrete non-parametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[ij]. While the z-map is the simplest farm of representing sculptured surfaces and is the most versatile scheme for modeling non-parametric objects, its practical application in industry (eg, tool-path generation) has aroused much controversy over its weaknesses, namely its inaccuracy, singularity (eg, vertical wall), and some excessive storage needs. Much research or the application of the z-map can be found in various articles, however, research on the systematic analysis of sculptured surface shape representation via the z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) z-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary z-map models, and some application examples.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.36-40
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• 1987

현재 사용되고 있는 작업방식은 로봇과 positioner의 상대적인 위치 및 자세설정에 의하여 작업효율 및 성능향상을 꾀할 수 있음에도 불구하고 비효율적인 방법으로 사용하고 있는 실정이다. 이러한 문제점을 해결하기 위한 방법중의 하나로 로보트와 positioner시스템을 하나의 기구학적 모델로 제어하는 방법이 제시된 바 있다. 상기의 연구에서는 로보트와 positioner(이하 R-P 시스템)간의 협조 제어가 여유자유도제어 방법을 이용하여 가능한 것임을 보였다. 그러나 용접작업과 같은 positioner 위에서의 연속경로 작업에 있어서는 작업공간과 특이성(singularity) 등에 관련된 여러 가지 문제점을 안고 있다. 특이성은 외부의 물리적인 제약이나 로보트의 기하학적 구조의 문제로 발생될 수도 있는데 이때 자유도의 손실을 유발하므로 임의의 원하는 방향으로 움직일 수 없게 된다. 이러한 면에서 R-P 시스템의 조작 성능 평가가 중요한 의미를 갖는다. 본 연구에서는 실제 산업현장에서 이용되고 있는 5 자유도를 갖는 수직 다관절형 로보트와 positioner에 대하여 협조 제어 방법을 검토한다. 그리고 작업공간 내의 조작성능평가를 위하여 Jacobian 행렬을 이용한 조작성지수를 위하여 Jacobian 행렬을 이용한 조작성지수를 도입하고 주어진 작업단면에 대한 이들의 분포를 등고선 그래프로 시각화 한다. 또한 조작성지수를 최대화 하는 알고리즘을 R-P 시스템에 적용하고 시뮬레이션을 통하여 그 타당성을 검토한다

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.35-42
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• 1998

Time marching algorithms applied to compressible Navier-Stokes equation have a convergence problem at low Mach number. It is mainly due to the eigenvalue stiffness and pressure singularity as Mach number approaches to zero. Among the several methods to overcome the shortcomings of time marching scheme, time derivative preconditioning method have been used successfully. In this numerical analysis, we adopted a preconditioner of K.H. Chen and developed a two-dimensional, axisymmetric Navier-Stokes program. The steady state driven cavity flow and backward facing step flow problems were computed to confirm the accuracy and the robustness of preconditioned algorithm for low Mach number flows. And the transonic and supersonic flows insice the JPL axisymmetric nozzle internal flow is exampled to investigate the effects of preconditioning at high Mach number flow regime. Test results showed excellent agreement with the experimental data.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.18 no.4
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• pp.401-409
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• 2009

This paper presents a method of calculating the stress intensity factor (K) and crack propagation direction (${\theta}_0$) at the crack-tip that is associated with delamination in the large scale integration(LSI) package. To establish a reasonable strength evaluation method and life prediction, it is necessary to assess fracture parameters under various fracture conditions. Therefore, we conducted quantitative stress singularity analysis considering thermal stress simulating the changes of crack length (a), (h) and (v) in delamination using the 2-dimensional elastic boundary element method (BEM), and from these results predicted crack propagation direction and path.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.04a
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• pp.335-342
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• 2001

In this paper, an improved Element-Free Galerkin (EFG) method is proposed by adding enrichment function to the standard EFG approximation and a discontinuity function is implemented in constructing the shape function across the crack surface. In this method, the singularity and the discontinuity of the crack are efficiently modeled by using initial node distribution to evaluate reliable stress intensity factor, though the standard EFG method requires placing additional nodes near the crack tip. The proposed method enables the initial node distribution to be kept without any additional nodal d.o.f. and expresses the asymptotic stress field near the crack tip successfully. Numerical example verifies the improvement and the effectiveness of the method.

• The Pure and Applied Mathematics
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• v.27 no.2
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• pp.71-81
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• 2020

Multicollinearity is a common problem in linear regression models when two or more regressors are highly correlated, which yields some serious problems for the ordinary least square estimates of the parameters as well as model validation and interpretation. In this paper, first the problem of multicollinearity and its subsequent effects on the linear regression along with some important measures for detecting multicollinearity is reviewed, then the role of eigenvalues and eigenvectors in detecting multicollinearity are bolded. At the end a real data set is evaluated for which the fitted linear regression models is investigated for multicollinearity diagnostics.