Hyun Geun Yu

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In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is defined here in terms of the worst-case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to parallel(More)
In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optimality is defined in terms of the worst case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to(More)
Robot conveyor tracking is a task in which a robot follows and obtains objects on a conveyor belt. Prior to obtaining an object from an automation line, a robot needs information about the object, such as its position, orientation, velocity, size, etc. Compared to ultrasonic sensors and infrared ray sensors, vision sensors can provide more information about(More)
The compliance/stiffness of a robotic mechanism is usually modeled by a 6 by 6 symmetric positive definite matrix at an equilibrium point using screw theory. When an external wrench is exerted on the mechanism and the mechanism moves away from its equilibrium, the modeled compliance/stiffness matrix becomes non-symmetric. In this article, the authors derive(More)
This work explores image processing techniques that involve the application of eigenspace methods for pose detection. An eigenspace method for data compression used in the image processing field is commonly referred to as Principal Component Analysis (PCA). We present some recently introduced eigenspace concepts for detecting the pose angle of an occluded(More)
The force regulation and inevitable positional inaccuracy of traditional control system can be compensated by the compliance/stiffness mechanism. The compliance/stiffness of a robotic mechanism is usually modeled by a 6 by 6 symmetric positive definite matrix at an equilibrium point using screw theory. When an external wrench is exerted on the mechanism and(More)
In this article, the authors investigate the fault tolerance of manipulators in their nominal configuration. In this work, fault tolerance is measured in terms of the worst case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to parallel mechanisms with a limited workspace.(More)
We establish robustness stability results for a specific type of artificial neural networks for associative memories under parameter perturbations and determine conditions that ensure the existence of global asymptotically stable equilibria of the perturbed neural system that are near the asymptotically stable equilibria of the original unperturbed neural(More)
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