• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.10 s.253
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• pp.1187-1193
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• 2006

Traditionally, the continuum-based topology optimization methods employing the SIMP technique have been used to design compliant mechanisms. Although they have been successful, the optimized mechanisms by the methods are usually difficult to manufacture because of their geometrical complexities. The objective of this study is to develop a topology optimization method that can produce easy-to-fabricate mechanism structure. The proposed method is a ground beam method where beam connectivity is controlled by the beam joint stiffness. In this approach, beam joint stiffness determines the mechanism configuration. Because b the ground structure beams have uniform thicknesses varying only discretely, the resulting mechanism topologies become easily manufacturable.

• Structural Engineering and Mechanics
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• v.44 no.4
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• pp.501-519
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• 2012

Truss weight is one of the most important factors in the cost of construction that should be reduced. Different methods have been proposed to optimize the weight of trusses. The artificial bee colony algorithm has been proposed recently. This algorithm selects the lightest section from a list of available profiles that satisfy the existing provisions in the design codes and specifications. An important issue in optimization algorithms is how to impose constraints. In this paper, the artificial bee colony algorithm is used for the discrete optimization of trusses. The fly-back mechanism is chosen to impose constraints. Finally, with some basic examples that have been introduced in similar articles, the performance of this algorithm is tested using the fly-back mechanism. The results indicate that the rate of convergence and the accuracy are optimized in comparison with other methods.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.3
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• pp.350-356
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• 2011

In this paper, we proposed the automatic cutting mechanism of the perforation pipes in an automobile muffler. This cutting mechanism makes continuous work possible, because it performs the batch work via the sequential operation of loading, feeding, cutting, and discharging. The proposed cutting mechanism consists of the frame unit, escape unit, turning unit, feeding unit, vision system, clamping unit, spindle/cutting unit and cooling unit. And, these mechanisms have been modularized through mechanical, dynamical and structural optimized design using the SMO (SimDesigner Motion) analysis module. Also, the virtual prototype was carried out using the 3-D CAD program. The cutting process cycle is performed in the order of loading, vision processing, feeding, clamping, cutting and discharging. And the cycle time for cutting one piece was designed to be completed in four seconds.

• Journal of Biosystems Engineering
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• v.43 no.4
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• pp.273-284
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• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• ETRI Journal
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• v.35 no.1
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• pp.41-50
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• 2013

Network Mobility (NEMO) handles mobility of multiple nodes in an aggregate manner as a mobile network. The standard NEMO suffers from a number of limitations, such as inefficient routing and increased handoff latency. Most previous studies attempting to solve such problems have imposed an extra signaling load and/or modified the functionalities of the main entities. In this paper, we propose a more secure and lightweight route optimization (RO) mechanism based on exploiting the firewall in performing the RO services on behalf of the correspondent nodes (CNs). The proposed mechanism provides secure communications by making an authorized decision about the mobile router (MR) home of address, MR care of address, and the complete mobile network prefixes underneath the MR. In addition, it reduces the total signaling required for NEMO handoffs, especially when the number of mobile network nodes and/or CNs is increased. Moreover, our proposed mechanism can be easily deployed without modifying the mobility protocol stack of CNs. A thorough analytical model and network simulator (Ns-2) are used for evaluating the performance of the proposed mechanism compared with NEMO basic support protocol and state-of-the-art RO schemes. Numerical and simulation results demonstrate that our proposed mechanism outperforms other RO schemes in terms of handoff latency and total signaling load on wired and wireless links.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.434-442
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• 2016

Jansen mechanism is composed of mechanical walking linkages that are designed and optimized by Theo Jansen in 1990. Although he has made optimum values for linkage dimensions for Jansen Mechanism, there are still various applications for this mechanism and also various optimum values for each application. In this paper, Jansen Mechanism optimization has been processed for the Science Box. The Science Box has its own linkage dimensions and related components and makes space for optimization process. For the optimization 3 to 4 linkage were selected which had no similar ratios of linkages between other applied Jansen mechanisms and to reduce experiment numbers. Response Surface Method was used with Minitab 17 for optimization and m.sketch was used for experimentation. Intuitive method had to be used to find optimum values as with RSM optimum value could not be found. EDISON Designer was used to make final CAD model with optimum values and laser cutter was used to get appropriate acryl panels for legs.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.1
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• pp.65-73
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• 2004

In this paper, we propose a tunnel establishment scheme using Next Hop Resolution Protocol over mobile IP networks, which consist of LAN-based IP networks and ATM-based IP networks. As a basic idea, we use the shortest path algorithm to establish a short-cut tunnel between HA and FA. Also, we classify methods for establishing a short-cut tunnel into four cases considering the locations of HA, FA, CN and MN. To confirm the advantages of our schemes, which deliver packets using short-cut tunnel in optimized path method over mobile IP networks, we performed mathematical analysis and simulation, compared proposed schemes with existing IP routing method in terms of transmission delay between CN and MN. The simulation results show that our scheme have superior performance to that of existing IP routing mechanism, because the store-and-forward delay which occurred in IP routing mechanism is considerably reduced in short-cut tunnel over ATM networks.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.720-724
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• 2004

This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.1
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• pp.68-75
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• 2012

In this study, the optimal synthesis of planar steering mechanisms for vehicles is studied. The author minimized the steering error between two front wheels subject to the constraints of transmission angles. Nonlinear programming methods such as BFGS method and golden section search method are used for this optimization. As numerical examples, Ackermann's steering mechanism, 6-link and 10-link planar mechanism are adopted to check the usefulness of this method. Consequently, among the three optimized mechanisms, 10-link planar one conducts far more accurate performance subject to tight constraints of transmission angles.