• 센서학회지
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• 제26권2호
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• pp.114-121
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• 2017

This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can't measure the weight of the patient's leg and the robot's leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient's calf force in the walking assist robot.

• Journal of Power Electronics
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• 제16권5호
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• pp.1851-1860
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• 2016

The traction motors in electric multiple unit (EMU) trains are powered by AC-DC-AC converters, and the DC link voltage is generated by single phase PWM converters, with a fluctuation component under twice the frequency of the input catenary AC grid, which causes fluctuations in the motor torque and current. Traditionally, heavy and low-efficiency hardware LC resonant filters parallel in the DC side are adopted to reduce the ripple effect. In this paper, an analytical model of the ripple phenomenon is derived and analyzed in the frequency domain, and a ripple control scheme compensating the slip frequency of rotor vector control systems without a hardware filter is applied to reduce the torque and current ripple amplitude. Then a relatively simple discretization method is chosen to discretize the algorithm with a high discrete accuracy. Simulation and experimental results validate the proposed ripple control strategy.

• Smart Structures and Systems
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• 제23권6호
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• pp.669-682
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• 2019

Vibration mitigation of cables or hangers is one of the crucial problems for cable supported bridges. Previous research focused on the behaviors of cable with dampers or crossties, which could help engineering community apply these mitigation devices more efficiently. However, less studies are available for hybrid applied cross-ties and dampers, especially lack of both analytical and experimental verifications. This paper studied damping and frequency of two parallel identical cables with a connection cross-tie and an attached damper. The characteristic equation of system was derived based on transfer matrix method. The complex characteristic equation was numerically solved to find the solutions. Effects of non-dimensional spring stiffness and location on the maximum cable damping, the corresponding optimum damper constant and the corresponding frequency of lower vibration mode were further addressed. System with twin small-scale cables with a cross-link and a viscous damper were tested. The damping and frequency from the test were very close to the analytical ones. The two branches of solutions: in-phase modes and the out-of-phase modes, were identified; and the two branches of solutions were different for damping and frequency behaviors.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권1호
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• pp.133-151
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• 2019

In order to achieve faster content distribution speed and stronger fault tolerance, a P2P peer can connect to multiple peers in parallel and receive chunks of the data simultaneously. A critical issue in this environment is selecting a set of nodes participating in swarming sessions. Previous related researches only focus on performance metrics, such as downloading time or the round-trip time, but in this paper, we consider a new performance metric which is closely related to the network and propose a peer selection algorithm that produces the set of peers generating optimal worst link stress. We prove that the optimal algorithm is practicable and has the advantages with the experiments on PlanetLab. The algorithm optimizes the congestion level of the bottleneck link. It means the algorithm can maximize the affordable throughput. Second, the network load is well balanced. A balanced network improves the utilization of resources and leads to the fast content distribution. We also notice that if every client follows our algorithm in selecting peers, the probability is high that all sessions could benefit. We expect that the algorithm in this paper can be used complementary to existing methods to derive new and valuable insights in peer-to-peer networking.

• 한국해양환경ㆍ에너지학회지
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• 제13권2호
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• pp.83-90
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• 2010

해양파 중에서 2개 선체가 가까운 거리에 계류되어있는 경우에 2선체의 운동을 엄밀한 파 중 2 부유체 운동이론에 의하여 계산하였다. 2 선체의 방사 및 산란파 포텐셜은 특이파 수 현상이 없는 주파수영역 Improved Green 적분방 정식으로부터 구하였다. 규칙파 중에서 근접한 2선체가 서로 연결되지 않은 경우와 강체 연결장치로 병렬 계류된 된 경우의 운동 및 강체연결체에 작용하는 6방향 힘과 모오멘트를 해석하는 기법과 수치실험 결과도 보였다.

• Structural Engineering and Mechanics
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• 제12권2호
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• pp.157-168
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• 2001

In this paper, experimental investigation into the behavior of reinforced concrete (RC) columns tested under large lateral displacement with four different types of loading arrangements is presented. Each loading arrangement has a different system for controlling the consistency of the loading condition. One of the loading arrangements used three units of link mechanism to control the parallelism of the top and bottom stub of column during testing, and the remaining employed eight hydraulic jacks for the same purpose. The loading systems condition used in this investigation were similar to the actual case in a moment-resisting frame where the tested column was displaced in a double curvature. Ten model column specimens, divided into four series were prepared. Two columns were tested monotonically until collapse, and unless failure took place at an earlier stage of loading, the remaining eight columns were tested under cyclic loading. Test results indicated that the proposed system to keep the top and bottom stubs parallel during testing performed well.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.261-265
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• 2001

In this paper, a current-source type parallel indudor compensated load resonant high-frequency soft switching inverter using IGBTs for driving the newly-produced silent discharge type ozone generating tube and excimer lamp for UV generation which incorporate a single switched capacitor resonant snubber between the port in DC busline side is presented, together with its pulse modulated unique output power regulation characteristics.

• 한국정밀공학회지
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• 제14권12호
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2009년도 정기총회 및 추계학술대회 논문집
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• pp.212-214
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• 2009

In this paper, we have proposed a Parallel Resonant Soft Switching Inverter based on Delta-Modulation Method. The conventional full-bridge inverter generates switching losses due to the hard switching. The proposed inverter operates soft switching using a DC-link switch and resonant circuit. So, all of the switches in the proposed inverter operates soft switching. Therefore the proposed inverter can reduce not only switching loss but also capacity and size of passive devices due to the resonant elements. The validity of the proposed inverter is verified thorough the theoretical analysis and simulation.