• Journal of Arbitration Studies
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• v.23 no.3
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• pp.1-23
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• 2013

Form requirements particularly for arbitration clauses are widely perceived as an obstacle for efficiently resolving disputes on an international level. The paper discusses the recent suggestion that the freedom of form principle under Art. 11 CISG extended to arbitration, forum selection, or choice of law clauses in international sales contracts and thus superseded any and all formal requirements in this regard. After analysing national and international form requirements with regard to said clauses, the authors elaborate that while dispute clauses are indeed encompassed by the CISG's scope of application, freedom of form under the CISG was neither intended to nor should it apply to dispute clauses. This result is further confirmed by the interplay of the CISG with other international conventions, first and foremost the 1958 New York Convention, as well as a careful analysis of the so called most-favourable-law-approach.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.324-337
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• 1999

In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.

• Korean Architects
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• s.628
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• pp.112-113
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• 2021

• Smart Structures and Systems
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• v.5 no.3
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• pp.279-290
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• 2009

Two degrees of freedom resonant systems are employed to improve the resonant property of resonant sensor, as compared to a single degree of freedom resonant system. This paper presents design, development and testing of two degrees of freedom resonant sensor. To measure absolute mass, cantilever shaped two different masses (smaller/absorber mass and bigger/drive mass) with identical resonant frequency are mechanically linked to form 2 - Degree-of-Freedom (DOF) resonator which exhibits higher amplitude of displacement at the smaller mass. The same concept is extended for measuring differential quantity, by having two bigger mass and one smaller mass. The main features of this work are the 3 - DOF resonator for differential detection and the microcontroller based closed loop electronics for resonant sensor with piezoelectric sensing and excitation. The advantage of using microcontroller is that the method can be easily extended for any range of measurand.

• Journal of KSNVE
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• v.10 no.5
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• pp.775-782
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• 2000

Being carried out a number of studies for the resilient mounting system of automobile engine than that of the studies for marine engines, many research results for the case of the resilient mounting system of the automobile engine have applied in the analysis for the case of marine engine. However, the size and the power of automobile engines are not only relatively small but also their operating conditions are quite different form those of marine engines. For the analysis of the automobile engine Wavelet shrinkage, misfire condition and unload condition have not been considered. Accordingly , it is not desirable to apply the results obtained form the case of automobile engines to the case of marine engines. In this study , exciting and damping forces working on the marine engine are formulated mathematically in order to apply to the design of a resilient mounting system of engine effectively. futhermore, some mathematical formulation for the analysis of the transmissibility of multi-body system are proposed. A new computer program which is able to calculate the free vibration, the transmissibility and the forced vibration of a resilient mounting system has been developed, As an application of this developed computer program, the dynamic behavior of resilient system with an actual rubber spring for the case of 6-degree-of-freedom system and 36-degree-of-freedom system are evaluated quantitatively.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.72-81
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• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1649-1656
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• 2017

This paper addresses the control problem of a laboratory-level 2 degree-of-freedom helicopter. The exact fuzzy model in a Takagi - Sugeno form is constructed by the sector nonlinearity technique, and is then represented as a set of uncertain linear systems. Output-tracking controller is designed in terms of linear matrix inequalities and the closed-loop stability is rigorously analyzed. Experimental evaluation shows that the proposed method is of benefit to many real industrial plants.

• Journal of English Language & Literature
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• v.64 no.1
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• pp.77-94
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• 2018

This paper examines William and Ellen Craft's Running a Thousand Miles for Freedom (1860)-a narrative of the enslaved couple's escape from Macon to Philadelphia in the guise of a white male master and a colored slave. Expanding Judith Adler's notion of "travel as performed art," my reading of Running focuses on the Crafts' stratagems of transvestism-crossing boundaries not only of gender, but also of race, class, and disability. If travel can be understood as a form of performed art, then why not address a traveler as a performance artist? I present William and Ellen's role-playing in Running as performers of crossing borders and categories, or, as "fugitive performers," since the couple's story never reaches its final arrival but narrates an eternal run-away, far more than "a thousand miles to freedom." Using social stereotypes of race and gender to disguise, William and Ellen plot, write, choreograph, play, and recite on the moving stages and manipulate the others-especially white American audiences-who accompany the couple's run-away and those who were responsible for the cultural drama-a tragedy of American slavery. Becoming "fugitive performers," William and Ellen de-essentialize and debunk the nineteenth-century America's firm belief in distinct color line between black and white, and in the high yet unstable bars between male / female, abled / disabled, master / slave, and freedom / slavery. The Crafts alert their contemporaries and readers by presenting the complex and permeable boundaries of race, gender, class, social and cultural ability.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.92-96
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• 2018

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.