• Tribology and Lubricants
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• 제35권4호
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• pp.229-236
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• 2019

This study investigates the stress singularity that occurs at the contact edge of three bodies in a frictional complete contact. We use the asymptotic analysis method, wherein we constitute an eigenvalue problem and observe the eigenvalue behavior, which we use to obtain the order of the stress singularity. For the present geometry of three bodies in contact, a contact between a cracked indenter and half plane is considered. This is a typical geometry of the PCMI problem of a nuclear fuel rod. Thus, this paper, specifically presents the characteristics of the PCMI problem from the perspective of stress singularity. Consequently, it is noted that the behavior of the stress singularity varies with the difference in the crack angle, coefficient of friction, and material dissimilarity, as is observed in a frictional complete contact of two bodies. In addition, we find that the stress singularity changes essentially linearly with respect to the coefficient of friction, regardless of the variation in the crack angle and material dissimilarity. Concurrently, we find the order of singularity to be 0.5 at a certain coefficient of friction, irrespective of the crack angle, which we also observe in the crack problem of a homogeneous and isotropic body. The order of singularity can also exceed 0.5 in the frictional complete contact problem of three bodies. This implies that the propensity for failure when three bodies are in frictional complete contact can be even worse than that in case of a failure induced by a crack.

• Journal of electromagnetic engineering and science
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• 제14권4호
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• pp.332-335
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• 2014

This paper investigates the phase singularity problem in microwave image reconstruction utilizing unwrapped phase data. The measured phases of the electric fields in most microwave measurement systems are wrapped. Thus, a certain phase unwrapping process is necessary for reconstruction of the image of a high contrast object. This unwrapping, however, is difficult in the presence of scattering nulls on/near the unwrapping path. At the null point, the phase value will be rendered, resulting in a poor image reconstruction. In this paper, we investigate the phase singularity arising from electromagnetic scattering nulls in microwave breast tomographic imaging. We then propose a transformation technique for the measured electric fields that avoids phase singularity.

• Structural Engineering and Mechanics
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• 제3권4호
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• pp.383-390
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• 1995

A 2-D four-noded finite element which contains a ${\lambda}$ singularity is developed. The new element is compatible with quadratic standard isoparametric elements. The element is tested on two different examples. In the first example, an edge crack problem is analyzed using two different meshes and different integration orders. The second example is a crack perpendicular to the interface problem which is solved for different material properties and in turn different singularity order ${\lambda}$. The results of those examples illustrate the efficiency of the proposed element.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.780-785
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• 1998

In this paper, it is shown that the conventional methods for dealing with the singularity problem of a manipulator can be generalized as a local minimization problem with differently weighted objective functions. A new damping method proposed in this article automatically determines the damping amounts for singular values, which are inversely proportional to the magnitude of the singular values. Furthermore, this can be done without explicitly computing the singular values. The proposed method can be applied to all the manipulators with revolute joints.

• 전산구조공학
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• 제9권3호
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• pp.169-177
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• 1996

구조물에 있어서 위상학적 최적화 문제는 최적화를 구하는 과정에서 구조체가 변화함으로 인한 어려움 때문에 최적화 분야에서 가장 어려운 문제로 간주되어 왔다. 종래의 방법으로는 일반적으로 구조요소 사이즈가 영으로 접근할 때 강성 매트릭스의 singularity를 발생시킴으로써 최적의 해를 얻지 못하고 도중에 계산이 종료되어 버린다. 본 연구에 있어서는 이러한 문제점들을 해결하기 위한 비선형 프로그래밍 formulation을 제안하는 것을 목적으로 한다. 이 formulation의 주된 특성은 요소 사이즈가 영이 되는 것을 허용한다. 평형방정식을 등제약조건으로 간주함으로써 강성 매트릭스의 singularity를 피할 수 있다. 이 formulation을 하중을 받는 구조물에 있어서 응력과 변위의 제약조건하에서 중량을 최소화할때의 유한요소의 두께를 구하는 디자인 문제에 적용하여, 이 formulation이 위상학적 최적화에 있어서의 효과를 입증하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.89.2-89.2
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• 2005

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.241-242
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• 2009

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• 로봇학회논문지
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• 제7권2호
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• pp.101-112
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• 2012

It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.

• 로봇학회논문지
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• 제16권2호
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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.