• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.528-531
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• 1997

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.

• Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.370-384
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• 2016

Computer-aided materials design requires new modeling approaches to characterize and represent fine-grained geometric structures and material compositions at multiple scales. Recently, a dual-Rep approach was developed to model materials microstructures based on a new basis function, called surfacelet. As a combination of implicit surface and wavelets, surfacelets can efficiently identify and represent planar, cylindrical, and ellipsoidal geometries in material microstructures and describe the distribution of compositions and properties. In this paper, these primitive surfacelets are extended and composite surfacelets are proposed to model more complex geometries. Composite surfacelets are constructed by Boolean operations on the primitives. The surfacelet transform is applied to match geometric features in three-dimensional images. The composition of the material near the identified features can then be modeled. A cubic surfacelet and a v-joint surfacelet are developed to demonstrate the reverse engineering process of retrieving material compositions from material images.

• Journal of Korean Society for Quality Management
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• v.26 no.4
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• pp.111-123
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• 1998

We consider the problem of modeling count data where the observation period is determined by the life time of the system under study. We assume random effects or a frailty model to allow for a possible association between the death times and the counts. We assume that, given a random effect or a frailty, the death times follow a Weibull distribution with a hazard rate. For the counts, given a frailty, a Poisson process is assumed with the intensity depending on time. A gamma distribution is assumed for the frailty model. Maximum likelihood estimators of the model parameters are obtained. A model for the time to death and the number of failures system received is constructed and consequences of the model are examined.

• Earthquakes and Structures
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• v.11 no.3
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• pp.407-420
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• 2016

The aim of this study is to investigate the effect of vertical ground motion (VGM) on seismic behavior of reinforced concrete (RC) regular frame with construction joints, and determine more proper modeling method for cast-in-situ RC frame. The four-story RC frames in the regions of 7, 8 and 9 earthquake intensity were analyzed with nonlinear dynamic time-history method. Two different methods of ground motion input, horizontal ground motion (HGM) input only, VGM and HGM input simultaneously were performed. Seismic responses in terms of the maximum vertex displacement, the maximum inter-story drift distribution and the plastic hinge distribution were analyzed. The results show that VGM might increase or decrease the horizontal maximum vertex displacement depending on the value of axial load ratio of column. And it will increase the maximum inter-story drift and change its distribution. Finally, proper modeling method is proposed according to the distribution of plastic hinges, which is in well agreement with the actual earthquake damage.

• Journal of the Korean Operations Research and Management Science Society
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• v.14 no.1
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• pp.88-96
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• 1989

General measure in the reliability is the k-terminal reliability, which is the probability that the specified vertices are connected by the working edges. To compute the k-terminal reliability components are usually assumed to be statistically independent. In this study the modeling and analysis of the k-terminal reliability are investigated when dependency among components is considered. As the size of the network increases, the number of the joint probability parameter to represent the dependency among components is increasing exponentially. To avoid such a difficulty the structured-event-based-reliability model (SERM) is presented. This model uses the combination of the network topology (physical representation) and reliability block diagram (logical representation). This enables us to represent the dependency among components in a network form. Computational algorithms for the k-terminal reliability in SERM are based on the factoring algorithm Two features of the ractoring algorithm are the reliability preserving reduction and the privoting edge selection strategy. The pivoting edge selction strategy is modified by two different ways to tackle the replicated edges occuring in SERM. Two algorithms are presented according to each modified pivoting strategy and illustrated by numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.5-119
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• 2002

$\textbullet$ Lack of exact dynamic modeling of omni-directional mobile robots $\textbullet$ The exact dynamic model of the mobile robots including the wheel dynamics $\textbullet$ The joint-space and operational-space dynamic model of the mobile are dervied as anaytical forms $\textbullet$ Comparison between the discrepancy of the incomplete dynamic and the exact dynamic $\textbullet$ Useful aspect of redundant actuation

• MALSORI
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• no.67
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• pp.167-180
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• 2008

This paper describes a novel spectral envelope conversion method based on Gaussian mixture model (GMM). The core of this paper is rearranging source feature vectors in input space to the transformed feature vectors in feature space for the better modeling of GMM of source and target features. The quality of statistical modeling is dependent on the distribution and the dimension of data. The proposed method transforms both of the distribution and dimension of data and gives us the chance to model the same data with different configuration. Because the converted feature vectors should be on the input space, only source feature vectors are rearranged in the feature space and target feature vectors remain unchanged for the joint pdf of source and target features using KPCA. The experimental result shows that the proposed method outperforms the conventional GMM-based conversion method in various training environment.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• Computational Structural Engineering
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• v.4 no.3
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• pp.129-135
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• 1991

This paper reports the application study of the ground reinforcement under a buried pipeline subjected to differential settlement via a finite element modeling. The soil-reinforcement interaction helps to minimize the differential settlement between the adjoining pipe segments. The settlement pattern and deformation slope of a pipeline have been evaluated for a boundary condition at the joint between a rigid structure and a pipeline. The analysis results are compared for both non-reinforced and reinforced cases to numerically evaluate the stress transfer mechanism and the effectiveness of the soil reinforcement for restraining the settlement of the pipeline.

• Journal of the Korean Data and Information Science Society
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• v.16 no.4
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• pp.1017-1026
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• 2005

We consider the problem of modeling count data where the observation period is determined by the survival time of the individual under study. We assume random effects or frailty model to allow for a possible association between the death times and the counts. We assume that, given a random effect, the death times follow a Weibull distribution with a rate that depends on some covariates. For the counts, given the random effect, a Poisson process is assumed with the intensity depending on time and the covariates. A gamma model is assumed for the random effect. Maximum likelihood estimators of the model parameters are obtained. The model is applied to data set of patients with breast cancer who received a bone marrow transplant. A model for the time to death and the number of supportive transfusions a patient received is constructed and consequences of the model are examined.