• Journal of Power System Engineering
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• v.21 no.2
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• pp.27-34
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• 2017

A heave motion of the offshore crane system with load is affected by unpredictable external factors. Therefore the offshore crane must satisfy rigorous requirements in terms of safety and efficiency. This paper intends to reduce the heave displacement of load position which is produced by rope extension and sea wave disturbance in vertical motion. In this system, the load position is compensated by the winch actuator control. The rope is modeled as a mass-damper-spring system, and a controller is designed by the input-output linearization method. The model system and the proposed control method are evaluated on the simulation results.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1051-1054
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• 2003

For micro-weighing, null balance method is widely used in the precision industrial fields, such as biomedicine, semiconductor, chemistry and so on. In order to obtain high resolution and large measurement range simultaneously, the mechanism should be analyzed and optimized. However, large measurement error can be generated according to the mass loading position and this error is called as a corner loading error. The corner loading error is caused by the parallelism error of a Roberval mechanism used to minimize it. The corner loading error is one of the most dominant error sources that should be removed. It is possible to design that the mechanism has no corner loading error theoretically, but the mechanism of the micro weighing device is very difficult to be realized as original design due to assembling and manufacturing error. For the required specification of the device, the precise manufacturing technique under a few $\mu\textrm{m}$ is required for the realization of the design. In this paper, the effects of the parallelism error are analyzed by using Lagrange method and verified by experiment. Also, the compensation mechanism is proposed and the corner loading error is reduced by restoring tile parallelism.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.26-32
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• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.4
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• pp.347-353
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• 2001

A stable TSK -type FLC can be designed by the method of Parallel Distributed Compensation (PDC) [2] but in this case, solving the LMI problem is not a trivial task. To overcome such a difficulty, a Time-Delay based FLC (TDFLC) is proposed. TSK -type TDFLC consists of Time-Delay Control (TDC) and Sliding Mode Control (SMC) schemes, which result in a robust controller based upon an integral sliding surface. Finally, simulation study is conducted for a mass-spring-damper system.

• Journal of KSNVE
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• v.10 no.4
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• pp.584-595
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• 2000

We design a new actuator for high density optical device in order to control the radial tilting motion. The newly designed actuator makes it possible to control the tilting motion actively, while the coventional actuator compress tilting motion with passive spring. First of all, We present 3-dimensional modeling of actuator and accomplish the modal analysis and magnetic analysis of actuator. Due to these results, a new designed actuator has performance of high sensitivity and high second resonance frequency. Secondly, We present the 3-DOF dynamic modeling of the 4-wire spring type actuator. sensitivity analysis is performed to consider the assembling error, such as the difference of mass center and force center. From these results, the sensitivities of rotation due to the assembly error are revealed and design criteria of rotation is presented. And experimental results of a newly designed actuator are presented and compared with theoretical results. Finally, We propose a dynamic tilt compensation and high acceleration actuator for high density optical storage devices.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.11b
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• pp.33-37
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• 2004

Photovoltaic energy and wind energy are highly dependent on the season, time and extremely intermittent energy sources. Because of these reasons, in view of the reliability the photovoltaic and the wind power generation system have many problems(energy conversion, energy storage, load control etc.) comparing with conventional power plant. In order to solve these existing problems, hybrid generation system composed of photovoltaic(500W) and wind power system(400W) was suggested But, hybrid generation system cannot always generate stable output due to the varying weather condition So, the auxiliary power compensation unit that uses elastic energy of spiral spring was added to hybrid generation system for the present study. It was partly confirmed that hybrid generation system was generated a stable outputs by spiral spring was continuously provided to load.

• Proceedings of the KIPE Conference
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• 2004.07a
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• pp.109-112
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• 2004

Photovoltaic energy and wind energy are very in constant depending on the season, time and extremely intermittent energy sources. Because of these reasons, in view of the reliability the solar and the wind generation system have many problems(energy conversion, energy storage, load control etc.) comparing with a conventional power plant. So, in order to solve these existing problems, hybrid generation system of photovoltaic(500W) and wind power(400W), which combines wind power energy and solar energy to have effect of supporting each other, was suggested. But hybrid generation system cannot always generate stable output with weather condition, the auxiliary power compensation apparatus that uses elastic energy of spiral spring to hybrid generation system was also added for the present study. And it may confirm that power was continuously provided to load by storing energy obtained from generating rotary energy of spiral spring generates in small scale generator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• 한국해양학회지
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• v.21 no.2
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• pp.101-109
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• 1986

To clarify the light condition which influence phytoplankton ecology in Kyeonggi Bay, light intensity, compensation depth, extinction coefficient, transparency and suspended substances are studied from May 1981 to September 1982.Light intensities lie within adequate values for the phytoplankton growth from spring to autumn. However, in the winter season the light intensities show less than 4.8mw/$\textrm{cm}^2$ on the surface resulting lower than optimum irradiance. Light intensity could be a limiting factor for phytoplankton growth in winter. Compensation depths seasonally varied over an annual period in this study. Especially, in winter, compensation depths are confined to only 1-2m below the surface. Extinction coefficient(K) values are relatively high over an year cycle. K values is highest in winter and lowest in summer. Transparency shows seasonal variation. Tansparency is high in summer and low in winter. Thus low light intensity, low compensation depth, low transparency and high extinction coefficient in winter are due to the high turbidity and high concentrations of suspended substances. High concentrations of S.S. in winter result from the sediments and detritus resuspended by the winter turbulence induced by the strong winter winds and the convectional mixing. In summer, good light condition and low turbidity may result from the thermal stability of water mass preventing the resuspension of sediment particles.