• 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.

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.89.2-89.2
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• 2005

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.241-242
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• 2009

• Journal of the Korean GEO-environmental Society
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• v.24 no.3
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• pp.5-14
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• 2023

The dry unit weight of the soil can be obtained by measuring the weight of the oven dried soil. According to the Korean Industrial Standards (KS F), oven dried soil at 110±5℃ continuously increases in weight when exposed to air. However, there is no regulation on the weight measurement time of oven dried soil, making it difficult to accurately measure the dry weight. In this study, a method to easily determine the dry weight was presented through the analysis of the weight singularity that appears during weight measurement. The weight singularity represents the smallest value among the measured weights, and is the weight at which the effect of moisture absorption in the air of the sample is minimized. In the course of the experiment, a container was selected using a statistical analysis method, and a photograph of the soil samples were presented using an optical microscope. In addition, the temperature of the weight singularity was measured using a non-contact infrared thermometer. As a result of analyzing the weight singularity of six types of soil, including Jumunjin sand, Naeseong stream sand, Yecheon weathered granite soil, Jeju sand, Sabkha sand, and Ulleung sand, the weight singularity of oven dried sample appeared between 8 and 27 seconds after weight measurement, and the temperature ranged from 103.4 to 108.13℃. The weight decrease rate of the singularity was 0.0066 to 0.0085% depending on the soil samples.

• Journal of the Korean GEO-environmental Society
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• v.24 no.9
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• pp.25-32
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• 2023

The Korean Industrial Standards (KS F) have a various regulations for measuring the weight of dried soil and rock. However, if the dried weight is measured in air after drying at 110±5℃ or 105±5℃, a weight singularity occurs, in which the weight decreases and then increases as the measurement time continues. In this study, basaltic rock from Ulleung Island was oven dried at 40 to 110℃. The weight was measured on an electronic scale with a sensitivity of 0.0001g (0.1mg) to find weight singularities. A method to easily determine the dry weight using the weight singularities was presented. As a result of analyses of the singularity of rock specimen according to temperature, the singularities were appeared in the temperature range of 40 to 110℃, and the weight of the singularity was smaller as the heating temperature increased. In particular, the weight singularity duration appeared, and the duration of the singularity was shorter as the heating temperature increased. The results of the convection measurement experiment showed that the cause of the singularity is the convection phenomenon caused by the contact of the heated rock with the air. The weight decrease of oven dried rock occurs when the effect of convection is dominant over the effect of air moisture absorption. Conversely, the weight increase of rock occurs when the effect of air moisture absorption is dominant over the effect of convection.

• 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

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1597-1598
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• 2011

• Journal of the Society of Naval Architects of Korea
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• v.29 no.1
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• pp.14-28
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• 1992

For a planar curve-sided paned with constant or linear density distributions of source or doublet in the singularity methods, Cantaloube and Rehbach(1986) show that the surface integral can be transformed into contour integral by using Stokes' formulas. As an extension of their formulations, this paper deals with a planar polygonal panel for which we derive the closed-forms of the potentials and the velocities induced by the singularity distributions. Test calculations show that the analytical evaluation of the closed-forms is superior to numerical integration(suggested by Cantaloube and Rehbach) of the contour integral. The compact and explicit expressions may produce accurate values of matrix elements of simultaneous linear equations in the singularity methods with much reduced computer tiome.

• 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.