• 대한환경공학회지
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• 제30권7호
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• pp.743-750
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• 2008

본 연구에서는 용존오존부상법(Dissolved Ozone Flotation; DOF)을 이용한 정수처리 효과를 파악하기 위하여 적정 오존 주입 농도와 오존 주입 농도별 처리 특성에 대해서 연구하였으며, 또한 용존공기부상법(Dissolved Air Flotation; DAF) 및 중력식 침전법(Conventional Gravity Sedimentation; CGS)과 DOF의 처리 성능을 비교하였다. 최적 오존 주입 농도를 산정하기 위한 실험에서 최적 오존 주입농도는 2.7 mg/L로 나타났으며, 오존 주입 농도가 증가할수록 탁도 및 KMnO$_4$ 소모량, UV$_{254}$ 흡수도, TOC 등과 같은 제거효율이 낮아지는 것으로 나타났다. DOF와 DAF, CGS의 처리성능을 비교한 결과 오존 주입 농도 2.7 mg/L로 운전한 DOF시스템의 탁도 제거효율은 88.9%, 유기물질 항목의 경우 KMnO$_4$ 소모량은 62.9%, TOC 47%, 그리고 UV$_{254}$ 흡수도 77.3% 그리고 THMFP 제거율의 경우 51.6%로 다른 두 공정보다 높거나 비슷하게 나타났다. 따라서 응집 부상 공정과 오존 산화 공정이 하나의 반응기에서 일어나는 DOF 시스템은 정수처리시설의 소유부지 감소와 기존 CGS 시스템에서 처리가 어려운 조류 및 용존성 유기물질의 제거를 통해 소독부산물의 생성을 감소시킴으로 향후 고도정수처리시스템으로 적용 가능성이 충분한 것으로 판단된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.201-202
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• 2012

• 한국정밀공학회지
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• 제29권10호
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• pp.1119-1127
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• 2012

In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.

• 한국기계가공학회지
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• 제18권7호
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• pp.1-7
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• 2019

A chatter lobe analysis is frequently used to look at the chatter state. Even if there is a lot of research on chatter, chatter lobe characteristics are not well defined. In this study, the chatter lobe behavior according to several variables of vibration mode is verified for further clarity. The dynamic variables of the chatter model are defined and their behaviors on chatter lobe boundary are analyzed in detail. In this sense, the chatter model with 2-DOF (2-DOF) was used to analyze chatter stability characteristics. The discussed results are satisfying and these can be used for the prediction of chatter existence in machining processes of 2-DOF systems in several revolution range. These analyses indicate a better agreement for predicting an appropriate stability lobe over a wide detailed range of critical depths of cut in machining operation. The results allow an excellent prediction of chatter according to various static and dynamic variables in machining states. The behavior of chatter dynamic variables in machining were also discussed in detail. All these results can also be applied to other machining processes by establishing a chatter model in a 2-DOF system.

• 한국자동차공학회논문집
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• 제5권2호
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• pp.31-41
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• 1997

Equations of motion for a 7 DOF full car model is developed in detail and used for the design of LQR based active suspension system. The frequency response to road disturbance input and the motion of a car passing unequal bumps were used to analyzed the dynamic characteristics of the 7 DOF full car with passive or active suspensions. The resulting linear equations of motion may be usefull in designing other types of active suspension.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 한국소음진동공학회논문집
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• 제20권7호
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• pp.637-643
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• 2010

The paper is about the development of 6-DOF active vibration isolation systems using VCM. Firstly, formulate the vertical 3-DOF mathematical model under eccentric load, and compare the model with the case in which the center of mass is located at the centroid. And then, complete the 6-DOF mathematical model by formulating the horizontal 3-DOF mathematical model. Find main parameters by comparing the result of the frequency response test with simulation result on the model. Finally, achieve the performance of vibration isolation by applying loop shaping approach & feedforward controller.

• Journal of Electrical Engineering and Technology
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• 제7권6호
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• pp.926-931
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• 2012

Since robot industry growing, the machine that could move with multi-DOF has been studied in many industrial fields. Spherical motor is one of the multi-DOF machine that doesn't need gear for multi-DOF motion. Unlike conventional motor, spherical motor can not only rotate on the shaft axis (rotating motion), but tilt the shaft with 2-DOF motion (positioning motion). In the typical type of spherical motor, one coil took part in positioning motion and rotating motion at the same time. As the result, the control algorithm was complex. To solve this problem, this study proposed a novel type of coil on the stator. The coils were separated for positioning motion and rotating motion. Thus the linkage flux of rotating coil didn't be affected the positioning angle. In this paper, comparing the back-EMF of typical and novel type was conducted and the driving experiment was carried out as the positioning angle. From the experiment result, the performance of proposed spherical motor could be verified.

• 한국정밀공학회지
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• 제22권7호
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• pp.191-199
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• 2005

Many researchers have been investigating the design of multi-mode absorption vibration absorber for multi degree-of-freedom (DOF) system. The approach taken to this problem has been to find the optimized constants of stiffness and damping for the given set of single-DOF absorbers or single multi-DOF absorber attached to a multi degree-of-freedom system. This paper presents a novel geometrical and direct design theory of a 6 DOF vibration absorber via screw theory. Theoretical development is demonstrated by a practical example in which the diagonal stiffness matrix is synthesized using rectangular configuration of springs. The performance of this absorber is simulated by modal analysis.

• 로봇학회논문지
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• 제7권1호
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.