• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.960-966
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• 2016

This paper proposes a new concept of a soft and wearable upper-limb exoskeleton. A novel actuation principle, called the twisted string actuation principle, is implemented to make it lightweight, soft, and therefore easily wearable. Its power transmission mechanism and harness are designed to be soft and wearable, yet have enough control accuracy for rehabilitation. In addition to force transmission optimization, a speed enlargement mechanism is newly introduced in order to increase the contraction speed of the twisted string actuation mechanism by sacrificing the unnecessarily large gear reduction ratio of the twisted string mechanism. A prototype has been tested for mirroring therapy, and the feasibility of the proposed mechanism has been shown through a sufficiently accurate tracking performance.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2910-2912
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• 2000

Since the heavy-duty power manipulator has high ratio gear reducers at its joints, its dynamic characteristics are much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulator systems. This paper proposes a force reflecting position control scheme for 2 axes heavy-duty power manipulator which compensates control input saturation. A series of experiments is shown to give an excellent tracking performance regardless of saturation.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.565-570
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• 2001

Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.1993-1998
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• 2004

The present study was carried out to develop highly efficient RC ornithopter 'Songgolmae' powered by motor and battery. Designed electric ornithopter weighs 277 grams and has 3 channels radio control. 1t runs on an electric motor by a lithium polymer battery and has a gear ratio of about $75{\sim}95$ to 1 to flap its 88 cm wingspan. The aerodynamic performance of the ornithopter, applied to a flapping motion only, was validated by flight tests. Flight times have exceeded 23 minutes until the battery was used up. The flight test results indicate that the ornithopter developed here has sufficient thrust to propel itself in a forward flight. From the economical point of view and the handling of the RC ornithopter, it can be said that the developed robot ornithopter is an effective RC ornithopter. This radio controlled ornithopter flies its way high into the sky just like a real bird flies.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.6
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• pp.99-104
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• 2005

The CARB in USA has demanded OBD functions that detect any deterioration of performance of OTS as well as a simple defect of OTS which can affect emission to meet the reinforced emission regulation. In this paper, OTS plausibility monitoring functions to meet the demand from CARB are discussed. The output from OTS is used for the diagnostics of the torque converter clutch stuck and the gear ratio synchronous error. It is possible to diagnose the abnormality of OTS function by considering the oil temperature characteristics which changes according to the driving status of vehicles. In result, the OBD regulations of the CARB can be satisfied obligating car manufacturer to detect any problems in OTS functions which can affect emissions.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.225-232
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• 2007

This work intends to investigate the effects of shift characteristics on the propulsion performance of a manual wheelchair with an automatic transmission. A planetary gear train is employed to generate a two-stage shift automatically, based on the distance traveled from rest. Motion analysis has been performed for measuring kinematic properties of the arm and then the inverse dynamics has been applied for estimating joint forces/torques. Then, a parametric study has been performed to find a set of the shift ratios and the shift intervals for optimizing propulsion performance. Results show that the propulsion performance is closely related to the shift condition. It is found that a short shift interval is desirable for a short distance propulsion. However, an optimum shift interval for a long distance propulsion is inversely proportional to the shift ratio approximately. Consequently, the automatic transmission can greatly lower the joint loadings by the speed reduction, which eventually contribute to prevent joint injuries of wheelchair users.

• The Journal of Fisheries Business Administration
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• v.9 no.2
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• pp.59-89
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• 1978

The analyzed results of the actual state of stow net fishery based on the cost expended are as follows. According to the calculation of interests, the total cost of this fishery comes to ￦38,010,653 and in this account, the production cost comes to ￦35,477,198(93.3%), the material cost, 14,567,239(38.3%), the labour cost, 12,740,274(33.5%), the expenses, ￦8,169,685(21.5%), the commision and administration expenses, 2,533,455(6.7%). The expenses for this fishery are paid out as production costs, and the expenses for sale and administration expenses are the lowest of them, and the 93% of expenses are paid out as production costs. The ratio of cost element to 100% is as follow. The wages, 28.4%, fuel, 15.2%, repair, 11.6%, deprecation, 9.5%, fishing gear, 8.7%, ice, 6.1%, container(box for fish), 5.2% administration expenses, 5.2%, food, 3.5%, ship grar, 3.2%, public welfare, 1.7%, commision for sale, 1.5%, insurance for crew, 0.2%, taxes, 0.2%. This fishery is managed with the larger fishing boat than it was and so, it demands better crews with higher wages. In the former fishery, the search for fishing ground is very difficult with long navigation and great fuel consumption. when the weak fishing gears are used, the expenses for their repair and for their gears are greatly paid out. The unit costs of catches to each box come to ￦2.807(￦187 each kg). As the ratio of cost of sales comes to 86.7%and the ratio of interests comes to ￦5,850,812(13.3%), and so the net profit comes to 13.3% of total profits. According to above the ratio of cost of sales is shown as a universal validity, Asthe total expenses comes to 86.7% to the money on sales in the break-even point, the break-even point comes to ￦26,209,168 Accordingly for the profit control the account of production should be raised, and by the saving method of expenditure the break-even point should be brought down for the development of total profits.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.8
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• pp.582-594
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• 2016

Most studies on hybrid buses are on large-sized buses and not mid-sized low-floor buses. This study uses MATLAB simulation to evaluate the fuel efficiency of such buses powered by diesel. Based on the results, a hybrid electric vehicle system is recommended for the best combination of power and gear ratio. A parallel hybrid system was selected for the hybridization, which transmits front and rear wheel power independently. The necessary power to satisfy the target performance was calculated, and the applicable capacity area was designed. Dynamic programing was used to create and optimize a component sizing algorithm, which was used to scale the capacity of each component of the power source to satisfy the design criteria. The fuel efficiency rate, optimum power source capacity, and gear ratio can be improved by converting a conventional bus into a parallel hybrid bus.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.3
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• pp.223-231
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• 2001

For the purpose of providing the basic data on the improved fishing gear and the man power saving, which contribute to enhance fishing efficiency of set net in the coast of Jeju Island, this study executed the test of fish tank by reducing these actual nets by 1/30 and using the manufactured model nets, and observed and interpreted the behaviors of entering and escaping of the schools of mackerel Scomber japonicus, horse mackerel Trachurus japonicus and rabbit fish Siganus fuscescens. Thereby the result is as follows ; 1. After the elapsed time of 60 seconds, in case of rectangular set net, the ratio for entering by a school of fish marked 50% with mackerel, 18% with horse mackerel and 28% with rabbit fish, and in case of pound net, the ratio for entering net by a school of fish marked 70% with mackerel, 60% with horse mackerel and 30% with rabbit fish. 2. After the elapsed time of 60 seconds, in case of rectangular set net, the ratio for escaping by a school of fish marked 70% with mackerel, 40% with horse mackerel and 24% with rabbit fish, and in case of pound net, the ratio for escaping from net by a school of fish marked 0% with mackerel, 0% with horse mackerel and 3% with rabbit fish. 3. After the elapsed time of 60 seconds, in case of rectangular set net, the ratio for remaining by a school of fish marked 30% with mackerel, 60% with horse mackerel and 76% with rabbit fish, and in case of pound net, the ratio for remaining by a school of fish marked 100% with mackerel, 100% with horse mackerel and 97% with rabbit fish.