• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.469-472
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• 2016

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values. This.

• Journal of Power Electronics
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• v.19 no.3
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• pp.714-726
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• 2019

This paper proposes a hybrid-boost Modular Multilevel Converter (MMC) for the Medium-Voltage (MV) Variable Speed Drives (VSDs) employed in subsea applications, such as oil and gas recovery. In the presented architecture, a hybrid-boost MMC with a reduced number of semiconductor devices driving a multiphase Induction Machine (IM) is investigated. The stepped output voltage generated by the MMC reduces or eliminates the filtering requirements. Moreover, the boosting capability of the proposed architecture eliminates the need for bulky low-frequency transformers at the converter output terminals. A detailed illustration of the hybrid-boost MMC operation, the expected limitations/constraints, and the voltage balancing technique are presented. A simulation model of the proposed MV hybrid-boost MMC-based five-phase IM drive has been built to investigate the system performance. Finally, a downscaled prototype has been constructed for experimental verification.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_1
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.105-111
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• 1995

The inverse dynamic equations for 5 link robot including a closed chain have been derived. The closed chain is virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints by the Jacobian matrix which represents the configuration of the closed chain. The topology of tree structrued open chain robot is described by a FATHER array. The FATHER array of a link indicates the link tha tis connected in the direction of base link. Based on the inverse dynamic equations, the torque sensitivity models of the 5 link robot have been developed. The sensitivity models characterize the sensitivity of the driving torque with respect to the link parameters. All the procedures are illustrated through the 2 link robot.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.11a
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• pp.155-156
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• 2022

In the process of developing an industrial robot, various simulations should be conducted to evaluate the driving, movement, and performance of the robot. Space and time constraints exist to manufacture existing robots and implement various simulations, and efficiency is reduced due to high costs. To solve this problem, many simulations can be conducted by implementing the same movement and working environment as the real environment in virtual reality using digital twin technology. This study proposes a process for establishing a digital twin model of automated layout robots. Using the digital twin model, it is expected that it will not only evaluate the hardware performance of the robot in the future, but also verify the robot's algorithms such as motion planning and work process, identify and solve potential problems in advance, and prevent problems caused by software.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.27 no.6
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• pp.787-793
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• 1994

It has been demonstrated for the finite-difference ocean circulation model that the problem of uncertain forcing and input data can be tackled with an optimization techniques. The uncertainty problem in interesting flow properties is exploring a finite difference ocean circulation model due to the uncertainty in the driving boundary conditions. The mathematical procedure is based upon optimization method by the conjugate gradient method using the simulated data and a simple barotropic model. An example for the ocean circulation model is discussed in which wind forcing and the steady-state circulation are determined from a simulated stream function.

• Journal of The Korean Society of Agricultural Engineers
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• v.53 no.6
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• pp.31-41
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• 2011

This study was conducted to predict future land-cover changes under climate change scenarios and to cluster analysis of regional land-cover characteristics. To simulate the future land-cover according to climate change scenarios - A1B, A2, and B1 of the Special Report on Emissions Scenarios (SRES), Dyna-CLUE (Conversion of Land Use Change and its Effects) was applied for modeling of competition among land-use types in relation with socioeconomic and biophysical driving factors. Gyeonggi-do were selected as study areas. The simulation results from 2010 to 2040 suggested future land-cover changes under the scenario conditions. All scenarios resulted in a gradual decrease in paddy area, while upland area continuously increased. A1B scenario showed the highest increase in built-up area, but all scenarios showed only slight changes in forest area. As a result of cluster analysis with the land-cover component scores, 31 si/gun in Gyeonggi-do were classified into three clusters. This approach is expected to be useful for evaluating and simulating land-use changes in relation to development constraints and scenarios. The results could be used as fundamental basis for providing policy direction by considering regional land-cover characteristics.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.155-164
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• 2012

The compression of software development schedule has a limit without regarding to a development manpower. However, the actually developed softwares includes the impossible short time or unreal long time date. Previously suggested models are driving the development schedule from all of the actually developed software without considering these constraints. This paper recommends a standard of minimum and the most suitable development time period. This paper has chosen a criterion that shows the best development schedule among 5 criteria based on the actually performed projects. Moreover, this paper suggests a model that estimates the development schedule based on the best criterion.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.5-11
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• 2001

Vibration and noise of gears is doc to the transmission error and the vibration exciting force caused by the periodically alternating tooth stiffness. Transmission error is the rotation delay between driving and driven gear caused by manufacturing error, alignment error in assembly and so on. Tooth stiffness changes with the proceeding mesh of teeth. The purpose of this study is to develop how to calculate simultaneously the optimum amounts of tooth profile modification. end relief and crowning by minimizing the vibration exciting force of helical gears. We estimate the vibration exciting force by the meshing analysis of gears. Formulated constraints of this problem consist of contact ratio and strengths of gear teeth such as tooth bending strength, surface durability, and scoring. ADS(Automated Design Synthesis) is used as an optimization tool. We also investigate the relation between the aspect ratio and the optimum values of tooth modification. The proposed method can calculate the optimum amount of tooth modification automatically and is expected to be practically useful to resolve the problem of vibration of helical gears.