• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 한국정보통신학회논문지
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• 제12권4호
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• pp.758-765
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• 2008

오늘날 인프라 무선 랜은 많은 사용자들이 사용하는 중요한 인터넷 접속 기술이다. 무선 랜의 성능은 포화상태에서 시스템의 처리율이 저하되고, 각 노드의 처리율은 시간에 따라 심하게 변화하는 문제점이 있다. 본 논문에서는 링크 계층에서 DCF 시스템의 입력 로드를 조정하여 이러한 문제를 해결하는 트래픽 제어 방법을 제안한다. 트래픽 제어기를 사용하여 DCF로 유입되는 시스템 로드를 적절하게 조정하면 기존 MAC 프로토콜을 수정 없이도 시스템 처리율을 향상시키고 노드의 처리율 변화도 줄일 수 있는 것을 보인다. 또한, 시스템의 상황에 맞는 최적의 시스템 로드를 찾는 동적 제어 알고리즘을 제안하고, ns-2 시뮬레이션을 통하여 성능 향상을 보였다.

• 한국정밀공학회지
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• 제17권12호
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• pp.169-175
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• 2000

Stable and comfortable walking supports, which can reduce the body weight load partially, are needed for the recovering patients from neurologic disease and orthopedic procedures. In this paper, the development of a manipulator of rehabilitation robot for the patients with walking disabilities are studied. A force controller using pneumatic actuators is designed and implemented to the human friendly rehabilitation robot considering the safety of patients, reliability of the system, effectiveness of the unloading control and economic maintenance of the system. The mechanism of the unloading manipulator is devised to improve the sensibility for the movement of the patients such as direction and velocity. For the unloading force control, fuzzy control algorithm is adopted to reduce the partial body weight and suppress the unwanted fluctuation of the body weight load to the weak legs due to the unnatural working of the patients with walking disabilities. The effectiveness of the force control is experimentally demonstrated.

• 한국정밀공학회지
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• 제15권5호
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• pp.65-71
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• 1998

This paper presents in-process compensation methodology to eliminate cutter runout and improve machined surface quality. The cutter runout compensation system consists of the micro-positioning mechanism with the PZT (piezo-electric translator) which is embeded in the sliding table to manipulate the radial depth of cut in real time. For the implementation of cutter runout compensation methodology. cutting force adaptive control was proposed in the angle domain based upon PI (proportional-integral) control strategy to eliminate chip-load change in end milling process. Micro-positioning control due to adaptive acuation force response improves the machined surface quality by compensation or elimination of cutter runout induced cutting force variation. This results will provide lots of information to build-up the precision machining technology.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.541-543
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• 1998

Generally, PI control is simple and easy to implement and gains of PI control are determined by specifying a dynamics of the servo driver system. However, the gain-tuning is so difficult that it is relied on an expert's effort. This paper presents a gain auto-tuning method for PI controllers based on a fuzzy inference mechanism. First, the proposed fuzzy inference system identifies a system moment of inertia and adjusts control gains by using the difference in speed responses between a real plant and a reference model. Second, this paper proposes an improved fuzzy PI controller. To reduce the speed overshoot, we adapt a control method that selects a proper PI gains with respect to the load inertia variation. To prove the validity of the proposed gain tuning algorithm and the feasibility of the servo drive, a high performance servo drive will be implemented by DSP(TMS320C31) and intelligent power module (IPM). The proposed controller is applied to the speed control of the 300W AC servo motor. Some simulations and experimental results show that the proposed fuzzy PI controller is more robust than the conventional PI controller against the load inertia variation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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• pp.638-640
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• 2002

This paper introduces the design method of a Control Rod Drive Mechanism that consists of 3 coils -lift, movable gripper and stationary gripper coil. The vertical attraction forces of the lift, movable gripper, and stationary gripper armatures are calculated by FEM, then the dynamics with full load is demonstrated.

• Tribology and Lubricants
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• 제19권1호
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• pp.21-25
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• 2003

The 440C stainless steel is used for ball bearings and bevel gears in the control rod drive mechanism for the integral reactor, SMART. The friction characteristics of 400C stainless steel a investigated in sliding motion using the reciprocating tribometer which can simulate the operating conditions of the control rod drive mechanism. Highly purified water is used as lubricant, and the water is heated and pressurized in the autoclave. Friction force on the reciprocating specimens is measured by the load cells and transformed into friction coefficient. It is verified that frictional characteristic of the 440c steel is not drastically changed up to operating temperature and variation of friction coeffcient at operating temperature from room temperature to 160$^{\circ}C$ is within 5%.

• Earthquakes and Structures
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• 제18권3호
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• pp.313-320
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• 2020

The usage of conventional tuned mass damper (TMD) was proved as an effective method for passive mitigating vortex-induced vibration (VIV) of a bridge deck. Although a variety of linear TMD systems have been so far utilized for vibration control of suspension bridges, a sensitive TMD mechanism to wind spectrum frequency is lacking. Here, we introduce a bistable tuned mass damper (BTMD) mechanism which has an exceptional sensitivity to a broadband input of vortex shedding velocity for suppressing VIV in suspension bridge deck. By use of the Monte Carlo simulation, performance of the nonlinear BTMD is shown to be more efficient than the conventional linear TMD under two different wind load excitations of harmonic (sinusoidal) and broadband input of vortex shedding. Consequently, an appropriate algorithm is proposed to optimize the design parameters of the nonlinear BTMD for Kap Shui Mun Bridge, and then the BTMD system is localized for the interior deck of the suspension bridge.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.