• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.343-347
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• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 소성∙가공
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• 제28권6호
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• pp.335-346
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• 2019

Thick plate forming is presented to manufacture a large and curved member of steam turbine diaphragm. Due to three-dimensional asymmetry of target geometry, it is hard to consistently keep the blank position in die cavity between forming punch and die. In order to relieve the position instability of the blank during the thick plate forming, a blank support structure is proposed to be composed of guide pins and linear bearing, and blank guide arm enlarged from both longitudinal ends of the thick blank. In this study, parametric investigations with regard to the geometric position and width of the blank guide arm are carried out. As main geometric parameters, 2 positions such as maximum curvature region and minimum one on a curved cross-section profile of the target shape are selected, and 14 widths of the blank guide arm are considered. Using 28 variable combinations, three-dimensional numerical simulations are performed to predict the appropriate range of the process parameters. The compatibility and validity of the blank support structure with the blank guide arm for the thick plate forming is verified through the thick plate forming experiments.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.211-215
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• 2004

This paper describes the result of structure analysis and load test of torque arm for driving gear unit. The purpose of the analysis and test is to evaluate an safety which torque arm shall be considered fully sufficient rigidity so as to satisfy proper system function under maximum load. Driving gear unit consist of gearbox and torque arm. Both components, torque arm is significant component subjected to the vehicle and motor loads. The evaluation methode is used the FEM analysis, static and fatigue test. The test results have been very safety and stable for design load conditions.

• 기술혁신연구
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• 제14권2호
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• pp.143-165
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• 2006

By analyzing five in-depth case studies of suppliers in newly emerging Vietnam's motorcycle industry, this paper explores the differences in patterns and processes of capability improvement of suppliers who participate in different kinds of supplier-assembler network with different structures. The paper finds the correlation between the kinds of suppliers' capabilities improved and the structure of networks they participate in. While suppliers in arm-length networks can improve more upstream capabilities (structure design, process desist), suppliers in embedded networks can improve more downstream capabilities (process design, process setup, process maintenance and delivery control). Two capability improvement patterns of firms in newly emerging economy are indicated. The first pattern is asymmetrical improvement, either upstream or downstream capabilities, by participating in either arm-length or embedded networks. This pattern obstructs the suppliers to meet the requirements of new buyers rho come from different kinds of network. The second pattern is symmetrical improvement by joining both arm-length and embedded networks.

• 한국정밀공학회지
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• 제32권12호
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• pp.1055-1063
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• 2015

In this paper, a new master arm was developed as an input device of the remote control system for easy control of the industrial robot arm; it has a structure similar to the robot arm and is easy to wear. For control of the slave arm, related equations were derived about the joints between the master and slave arm; and thereby using them, the master arm control system was developed. Furthermore, a control simulator was developed for the convenient and accurate control of the slave arm. Experiments, about controlling the slave arm in applying the master arm, were performed to validate the developed simulator and the derived related equations.

• 전기학회논문지
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• 제63권12호
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• pp.1655-1660
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• 2014

In this paper, we propose a design of a triple-band microstrip circular patch antenna. The proposed antenna generates the triple frequency resonance at 1.85GHz(LTE), 2.45GHz(ISM) and 5.5GHz(WLAN). Firstly, we design the dual-band antenna. The dual-band antenna consist of the circular patch, slits, and the slot. The circular patch and slot are designed for dual frequency of 2.45GHz and 5.5GHz, respectively. And then the dual-band antenna is combined with additional arm-shaped structure for the triple-band characteristic. The arm-shaped structure is operated as the dipole. It is designed for lowest frequency of 1.85GHz. Each part of the antenna unites to a new structure. In order to design the proposed antenna automatically and optimally, APSO algorithm is adopted. During APSO, the mismatch of the proposed antenna is resolved. The optimal designed antenna has an acceptable return loss(-10dB) at each bands(i.e, 1.85GHz, 2.45GHz and 5.5GHz).

• 천문학회지
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• 제46권3호
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• pp.141-149
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• 2013

We analyze the spiral structure of 1725 nearby spiral galaxies with redshift less than 0.02. We use the color images provided by the Sloan Digital Sky Survey. We determine the arm classes (grand design, multiple-arm, flocculent) and the broad Hubble types (early, intermediate, late) as well as the bar types (SA, SAB, SB) by visual inspection. We find that flocculent galaxies are mostly of late Hubble type while multiple-arm galaxies are likely to be of early Hubble type. The fractional distribution of grand design galaxies is nearly constant along the Hubble type. The dependence of arm class on bar type is not as strong as that of the Hubble type. However, there is about a three times larger fraction of grand design spirals in SB galaxies than in SA galaxies, with nearly constant fractions of multiple-arm galaxies. However, if we consider the Hubble type and bar type together, grand design spirals are more frequent in early types than in late types for SA and SAB galaxies, while they are almost constant along the Hubble type for SB galaxies. There are clear correlations between spiral structures and the local background density: strongly barred, early-type, grand design spirals favor high-density regions, while non-barred, late-type, flocculent galaxies are likely to be found in low-density regions.

• 한국정밀공학회지
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• 제13권2호
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.