• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.781-786
• /
• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.4
• /
• pp.1679-1691
• /
• 2016

Successive interference cancellation (SIC) is an effective means of multi-packet reception to combat interference at the physical layer. We investigate the joint optimization issue of channel access and power control for capacity maximization in SIC-enabled wireless networks. We propose a new interference model to characterize the sequential detection nature of SIC. Afterward, we formulize the joint optimization problem, prove it to be a nondeterministic polynomial-time-hard problem, and propose a novel approximation approach based on the genetic algorithm (GA). Finally, we discuss the design and parameter setting of the GA approach and validate its performance through extensive simulations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1998.04a
• /
• pp.296-301
• /
• 1998

In this experiments of design, vibration evaluation, and test of vehicles, aircraft, and other mechanisms the development of vibration simulator that serves environment similar to real fields takes lots of advantages. Especially, in the real field test of vehicles it possesses the advantages of showing the dynamic characteristics of the vehicle. In this study, to investigate the validity and fitness of proposed 6DOF parallel link mechanism we simulated that mechanism.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.05a
• /
• pp.672-675
• /
• 2000

There are many sources of errors in the parallel device. This study investigates the effect of a clearance error at a U-joint on the position and orientation errors of the platform of a new parallel device, cubic parallel manipulator. In this study, the limits of errors can be estimated for given conditions.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.789-794
• /
• 2000

This study proposes an error analysis for a cubic parallel device. There are many sources of errors in the device. An error analysis is presented based on an error model formed from the relation between the universal joint error of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in evaluating the accuracy of a parallel device.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.42 no.11
• /
• pp.87-92
• /
• 2005

This paper analyzes the performance for an improved multistage parallel interference cancellation (PIC) technique with a reverse-link synchronous transmission technique (RLSTT) for DS-CDMA system in a frequency-selective Rayleigh fading channel with an imperfect power control scheme. The performance degradation due to power control error (PCE), which is approximated by a log-normally distributed random variable, is estimated as a function of the standard deviation of the PCE. The uncoded bit error performance is evaluated in order to estimate the system capacity. Comparing with the conventional one-stage PIC system, we show achievable gain around $60\%$ by the RLSTT even in the presence of PCE. We conclude that the capacity can be further improved via RLSTT, which alleviates the detrimental effects of the PCE

• The Transactions of the Korean Institute of Power Electronics
• /
• v.2 no.2
• /
• pp.8-18
• /
• 1997

In this paper, a New Low Loss Quasi-Parallel Resonant DC-Link(NLQPRDCL) Inverter which shows highly improved PWM capability, low loss characteristic and low voltage stress is presented. A method to minimize freewheeling interval, which is able to largely decrease DC-link operation losses and to steadily guarantee soft switching in the wide operation region is also proposed. In addition, lossless control of zero voltage duration of DC-link makes the proposed inverter maintain the advanced PWM capability even under a very low modulation index. Experiment and simulation were performed to verify validity of the proposed inverter topology.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.1
• /
• pp.35-43
• /
• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• Proceedings of the KIEE Conference
• /
• 1996.07a
• /
• pp.309-311
• /
• 1996

In this paper, we propose two types of novel discrete time current control methods of modified fixed band hysteresis control and optimal control for Parallel Resonant DC Link Inverters(PRDCLI). Because zero bus voltage intervals are generated on the DC link of PRDCLI, we can obtain the information of counter electromotive force(emf) by a simple estimation strategy. The proposed current controllers predict the currents of the next resonant cycle using the obstained information of counter emf and the average values of DC link voltages. The computer simulation results for a simple equivalent circuit of induction motor show that the proposed control methods are more effective than conventional methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.