• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.113-116
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• 2000

This paper analyzes the singularity of an anthropomorphic robot associated with joint and operational stiffness generation from muscle stiffness. The singularity analysis is made simply based on the signs of the actual and the desired coupling joint stiffness. First, the relationships of the muscle stiffness and the actual joint stiffness, and the operational stiffness and the desired joint stiffness are examined. Second, according to the sign restriction on the actual coupling joint stiffness, the operational space is divided into the semi-singular(SS), the regular(R), and the semi-regular(SR) regions. Third, from the sign comparison of tile actual and the desired coupling joint stiffness, the sufficient condition for the semi-singularity in operational stiffness generation is derived. The limitation on the allowable operational stiffness when a task point belongs to SS, R, and SR regions is also discussed. Simulation results are given.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.25-27
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• 2022

컨테이너 런타임 환경에서 HPC 작업을 실행하는 수요가 증가하고 있으며, 이에 따라 컨테이너 자원 관리의 중요성이 높아지고 있다. 본 연구에서는 HPC 작업 실행에 최적화된 컨테이너 런타임 환경인 Singularity를 대상으로 cgroups 지정 여부에 따른 실행시간을 측정하는 실험을 진행하고 결과를 분석하였다. 이러한 결과는 Singularity 컨테이너 런타임 환경에서 다양한 HPC 작업을 운영할 시 성능 효율을 높일 수 있는 자원 관리 방향을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.1-104
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• 2002

$\textbullet$ Proper definition of manipulability ellipsoid $\textbullet$ Volume and directional measures of manipulability $\textbullet$ Kinematic modeling as a serial connection $\textbullet$ Configuration dependent singularity $\textbullet$ Effect of nonholonomy on manipulability $\textbullet$ Effect of end-effector positioning on manipulability $\textbullet$ Effect of serial cooperation on manipulability

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1297-1301
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• 1997

Generally, singularity analysis of 6-DOF parallerl manipulators is very difficult and, as result, velocity relation has many uncertainties. In this paper, an alternative method using the local structurizatioin method(LSM) for the analysis of singular configuraions is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.

• Computational Structural Engineering
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• v.10 no.2
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• pp.131-138
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• 1997

This paper concerns the stress singularity at the interface corner of the viscoelastic adhesive layer bonded between rigid adherends, subjected to a uniform transverse tensile strain. The characteristic equation is derived in the Laplace transformed space, following Williams, and the transformed characteristic equation is inverted analytically into real time space for the viscoelastic model considered here. The order of the singularity is obtained numerically. The time-domain boundary element method is employed to investigate the nature of stresses along the interface. Numerical results show that the order of the singularity increases with time while the free-edge stress intensity factors are relaxed with time.

• Communications of the Korean Mathematical Society
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• v.17 no.2
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• pp.349-361
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• 2002

The ill-posed elliptic wave propagation problems can be transformed into well-posed initial value problems of the reflection and transmission operators characterizing the material structure of the given model by the combination of wave field splitting and invariant imbedding methods. In general, the derived scattering operator equations are of first-order in range, nonlinear, nonlocal, and stiff and oscillatory with a subtle fixed and movable singularity structure. The phase space and path integral analysis reveals that construction and reconstruction algorithms depend crucially on a detailed symbol analysis of the scattering operators. Some information about the singularity structure of the scattering operator symbols is presented and analyzed in the transversely homogeneous limit.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.849-856
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• 2006

This paper is to examine the applicability of ordinary Kriging interpolation(OK) to the p-adaptivity of the finite element analysis that is based on variogram. In the p-refinement, the analytical domain has to be refined automatically to obtain an acceptable level of accuracy by increasing the p-level non-uniformly or selectively. In case of non-uniform p-distribution, the continuity between elements with different polynomial orders is achieved by assigning zero higher-order derivatives associated with the edge in common with the lower-order derivatives. It is demonstrated that the validity of the proposed approach by analyzing results for stress singularity problem.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.73-78
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• 1992

Numerical method by Abdi et al. for obtaining a stress singularity near a crack perpendicular to the interface between two elastic materials is reviewed. More efficient and simple method to obtain crack singularity by shifting a mid-side node of 8-node isoparametric element is presented. It is observed that the present analysis provides increased accuracy for the expression of the opening displacement and the determination of the optimal position of the mid-side node for a wide range of material properties.

• Journal of applied mathematics & informatics
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• v.25 no.1_2
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• pp.345-351
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• 2007

Using more precise majorizing sequences we provide a finer convergence analysis than before [1], [7] of Newton's method in Riemannian manifolds with the following advantages: weaker hypotheses, finer error bounds on the distances involved and a more precise information on the location of the singularity of the vector field.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.42-54
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• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.