• The Journal of Korea Robotics Society
• /
• v.11 no.2
• /
• pp.73-82
• /
• 2016

This paper focuses on the vibration analysis of planar cable-driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots' natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

• Journal of KIISE:Computing Practices and Letters
• /
• v.15 no.4
• /
• pp.304-308
• /
• 2009

This paper presents the deadline driven CPU-Power management scheme for the Real-Time Embedded OS: named TMO-eCos. It used the scheduling scenarios generated by a task serialization technique for hard real- time TMO system. The serializer does a off-line analysis at design time with period, deadline and WCET of periodic tasks. Finally, TMO-eCos kernel controls the CPU speed to save the power consumption under the condition that periodic tasks do not violate deadlines. As a result, the system shows a reasonable amount of power saving. This paper presents all of these processes and test results.

• Journal of Internet Computing and Services
• /
• v.20 no.2
• /
• pp.69-76
• /
• 2019

Recent Enterprise System has component driven real-time distributed architecture (RDA) and this kind of architecture should performed with satisfying strict constraints on life cycle of object and response time such as synchronization, transaction and so on. Microsoft's .NET platform supports RDA and is able to implement services including before mentioned time restriction and security service by only specifying attribute code and maximizing advantages of OMG's Model Driven Architecture (MDA). In this study, a method to automatically generate an extended model of essential elements in an enterprise-system-based RDA as well as the platform specific model (PSM) for Microsoft's .NET platform are proposed. To realize these ideas, the functionalities that should be considered in enterprise system development are specified and defined in a meta-model and an extended UML profile. In addition, after defining the UML profile for .NET specification, these are developed and applied as plug-ins of the open source MDA tool, and extended models are automatically generated using this tool. Accordingly, by using the proposed specification technology, the profile and tools can easily and quickly generate a reusable extended model even without detailed coding-level information about the functionalities considered in the .NET platform and RDA.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.59 no.1
• /
• pp.65-73
• /
• 2023

This study analyzed the duct characteristics of hubless rim-driven propeller (RDP) used in underwater robots. In the previous study, flow visualization experiments were performed with an advancing ratio of 0.2 to 1. The vortex at the front of the duct increased in strength while maintaining its size as the advancing ratio decreased. Therefore, it is necessary to study the optimization of the duct shape. Conventional propeller thrusters use acceleration/deceleration ducts to increase their efficiency. However, unlike conventional propellers, it is impossible to apply to airfoil acceleration/deceleration ducts due to the RDP structure. In this study, duct wake flow characteristics, thrust force, and efficiency according to the duct shape of RDP were analyzed using numerical analysis techniques. Duct design is limited and six duct shapes were designed. As a result, an optimized duct shape was designed considering duct wake flow characteristics, thrust force, and efficiency. The shape that the outlet width of the RDP was kept constant until the end of the duct showed higher thrust force and efficiency.

• Nuclear Engineering and Technology
• /
• v.56 no.2
• /
• pp.498-505
• /
• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

• Wind and Structures
• /
• v.38 no.3
• /
• pp.171-191
• /
• 2024

Wind Driven Rain (WDR) poses a significant threat to the building environment, especially in hurricane prone regions by causing interior and content damage during tropical storms and hurricanes. The damage due to rain intrusion depends on the total amount of water that enters the building; however, owing to the use of inadequate empirical methods, the amount of water intrusion is difficult to estimate accurately. Hence, the need to achieve full-scale testing capable of realistically simulating rain intrusion is widely recognized. This paper presents results of a full-scale experimental simulation at the NHERI Wall of Wind Experimental Facility (WOW EF) aimed at obtaining realistic rain characteristics as experienced by structures during tropical storms and hurricanes. A full-scale simulation of rain in strong winds would allow testing WDR intrusion through typical building components. A study of rain intrusion through a sliding glass door is presented, which accounted for the effects of multiple wind directions, test durations and wind speeds; configurations with and without shuttering systems were also considered. The study showed that significant levels of water intrusion can occur during conditions well below current design levels. The knowledge gained through this work may enhance risk modeling pertaining to loss estimates due to WDR intrusion in buildings, and it may help quantify the potential reduction of losses due to the additional protection from shuttering systems on sliding glass doors during winds.

• The KIPS Transactions:PartB
• /
• v.11B no.6
• /
• pp.683-690
• /
• 2004

Garment modeling and simulation is now one of the important elements in broad range of digital contents. Though there have been recent products on garment simulation, general users do not know well enough how to design a virtual costume that meets some requirements about its specific clothing pattern. In particular, Hanbok - the Korean traditional costume - has many different characteristics against western ones in the aspect of its pattern design and of draping. This paper presents a knowledge-driven approach for virtual Hanbok modeling without knowing how to make real Hanbok. First, parameterized knowledge for several fabric types art solicited using visual similarity assessment from simulated and real cloth. Secondly, based on the analysis of designer's knowledge, we defined multi-level adjustment processes of Hanbok measurements with regard to body shape features for different virtual actors. An experimental system is developed as the form of a Maya plug-in and the result shows the applicability of the proposed method.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2010.03a
• /
• pp.324-337
• /
• 2010

For the development of load and resistance factor design, reliability analysis is required to calibrate resistance factors in the framework of reliability theory. The distribution of measured-to-predicted pile resistance ratio was constructed based on only the results of load tests conducted to failure for the assessment of uncertainty regarding pile resistance and used in the conventional reliability analysis. In other words, successful pile load test (piles resisted twice their design loads without failure) results were discarded, and therefore, were not reflected in the reliability analysis. In this paper, a new systematic method based on Bayesian theory is used to update reliability index of driven steel pile piles by adding more pile load test results, even not conducted to failure, into the prior distribution of pile resistance ratio. Fifty seven static pile load tests performed to failure in Korea were compiled for the construction of prior distribution of pile resistance ratio. Reliability analyses were performed using the updated distribution of pile resistance ratio and the total load distribution using First-order Reliability Method (FORM). The challenge of this study is that the distribution updates of pile resistance ratio are possible using the load test results even not conducted to failure, and that Bayesian update are most effective when limited data are available for reliability analysis or resistance factors calibration.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.2 s.179
• /
• pp.199-206
• /
• 2006

Automatic grease lubricator is equipment that provides adequate amount of fresh grease constantly to the shaft and the bearings of machines. It minimizes the friction heat and reduces the friction loss of machines to the least. This research is to develop automatic grease lubricator by gear driven mechanism with controlled operation time. The ultimate design of this equipment is to lubricate an adequate amount of grease by a simple switch clicking according to the advanced set cycle. The backlash of the gear was minimized to increase the output power. To increase the power of gear mechanism, the binding frequency and the thickness of the coil were changed. To control the rotating cycles of the main shaft according to its set numbers, different resistance and chips were used to design the circuit to controls electrical signals with pulse. The body of the lubricator was analyzed by stress analysis with different constructed angle. The stress analysis for differing loading pressures applied to the exterior body of grease lubricator due to the setup angle, was found that the maximum stress was distributed over the outlet part where the grease lubricator suddenly narrowed contracts. Digital mock-up was analyzed and the rapid prototyping(RP) trial products were tested with PCB circuit and grease. The evaluation of the outlet capacity for RP trial products was conducted, because the friction caused by the outlet on the wall surface was an important factor in the operation of the equipment. Finally, the finishing process was applied to decrease the roughness of the surface to a comparable level and was able to test the performance examination for the product.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.36 no.1
• /
• pp.25-32
• /
• 2000

A combination steering system was designed to provide the flexibility in controlling the steering wheel in fishing operations of the inshore and coastal fishing vessels. The designed steering system basically is consisted of three driving units, such as a electrically driven hydraulic pump unit with a solenoid control valve, a DC motor driven hydraulic pump unit and a manually driven hydraulic pump unit, and two controllers to provide remote steering on the deck, respectively. The steering torque was measured and analyzed to investigate the dynamic performance of the developed steering system. The steering system showed excellent linearity between the working pressure of cylinder and the torque of rudder post in case of increasing in rudder angle from $5^{\circ} to 35^{\circ}$ that is, the steering torque increased from $10.4 kgf{\cdot}m$ to $105.3 kgf{\cdot}m$ and then the working pressure of cylinder fluctuated from 6.3 kgf/cm super(2) to 16.4 kgf/cm super(2). The steering time of 3.2 sec in remote hydraulic steering by the on/off solenoid valve control was much faster than 13.2 sec in the manual steering by the helmsman and 11.6 sec in the electric steering by a DC motor, and then it was verified that operation of one unit does not affect other units in combination steering system in any way. Furthermore, the developed steering system can be remotely controlled in multiple stations of the deck during the fishing operation and the automatic pilot steering unit can be used to add hydraulic steering.