• Computational Structural Engineering : An International Journal
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• 제1권2호
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• pp.89-96
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• 2001

A study on the topology optimization of a Hard-Disk-Driver(HDD) actuator arm is presented. The purpose of the present wert is to increase the natural frequency of tole first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of the high speed actuator arm. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, tole smoothly-varying density field is obtained without checker-board patterns incurred. AS a result of 7he study, an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode of the suggested design is subsequently increased over the existing one.

• 한국의류학회지
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• 제20권5호
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• pp.930-942
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• 1996

This study was done to provide the characteristics of body surface changes at armhole area. Experiments were carried out at upper arm and upper body inchuding 67 items, 74 segments by the stanard posture and arm movements. The subjects were 15 females of twenty aged. The major conclusions of this study are; 1. On the circumference items of upper arm, armhole circumference was decreased by all arm movement, especially high contracted on front armhole line. The most contracted segments of armhole circumference were from the shonlder point to front and back interscye breadth point. Axillary circumference was increased 5 cm to the utmost, so the function of sleeve pattern would be decided by axillary circumference. 2. The lengths of upper arm were decreased near center line, sleeve cap length was contracted 3∼4 cm. Posterior armpit point area was increased both length and breadth. According to the rates of expansion and contraction, the diagram of expansion and contraction of upper arm was suggested. 3. On upper body, back side chest breadth was increased exceedingly and shoulder length was decreased most. It was apparent that surface changes of upper body were greatly larger as far away from center front and center back line. The rates of expansion and contraction of upper body were also represented as a diagram of surface changes.

• 대한기계학회논문집A
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• 제30권2호
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• pp.128-134
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• 2006

Topology optimization is an effective scheme to obtain the initial design concept: however, it is hard to apply in case of non-linear or multi-objective problems. In this study, a modified topology optimization method is proposed to generate a structure of a swing arm type actuator satisfying maximum compliance as well. as maximum stiffness using the multi-objective optimization. approach. The multi-objective function is defined to maximize the compliance in the direction of focusing of the actuator and the second eigen-frequency of the structure. The design of experiments are performed and the response surface functions are formulated to construct the multi-objective function. The weighting factors between conflicting functions are determined by the back-error propagation neural network and the solution of multi-objective function is acquired using the genetic algorithm.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.29-35
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• 2018

This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.

• ETRI Journal
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• 제30권1호
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• pp.141-151
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• 2008

In this paper, we introduce a new verification platform with ARM- and DSP-based multiprocessor architecture. Its simple communication interface with a crossbar switch architecture is suitable for a heterogeneous multiprocessor platform. The platform is used to verify the function and performance of a DVB-T baseband receiver using hardware and software partitioning techniques with a seamless hardware/software co-verification tool. We present a dual-processor platform with an ARM926 and a Teak DSP, but it cannot satisfy the standard specification of EN 300 744 of DVB-T ETSI. Therefore, we propose a new multiprocessor strategy with an ARM926 and three Teak DSPs synchronized at 166 MHz to satisfy the required specification of DVB-T.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1991년도 추계학술대회 논문집
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• pp.155-159
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• 1991

This paper is a study on the Inverse dynamics of a one-1ink flexible robot arm which is control led by the transiational base motion. The system is composed of the flexible arm, the mobil stage, a DC servomotor, and a computer. The arm base is shifted so that the tip follows a desired path function. The tip Rotten is measured by the laser displacement sensor. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method to the resulted equations. Tip responses obtained both theoretically and experimentally are in good agreement with the desired trajectory, which shows that the scheme of inverse dynamics is effective for the open-loop endpoint positioning of the flexible am driven by the translation stage.

• International journal of advanced smart convergence
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• 제2권1호
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• pp.18-20
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• 2013

The significance, is to introduce a novel way to employ the improved Runge-Kutta fifth order five stage method, here after called as Modified IRK(5,5) method, for system of second order robot arm problem and variations in angles at the joints in which parameters governing with two degrees of freedom which requires lesser number of function evaluations per time step as compared to the existing ones, in order to save time and spaceAn ultimate aim of this present paper is to solve application problem such as robot arm and initial value problems by applying Runge-Kutta fifth order five stage numerical techniques. The calculated output for robot arm coincides with exact solution which is found to be better, suitable and feasible for solving real time problems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.166-168
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• 2007

This paper is dealing with how to control of a client robot's movement for instructions from a server PC and a wireless andremote control Robot that sends the server information of images for monitoring. To implement this. 802.11x WLAN with TCP/IP socket programming is used to get the driving instructions from the server PC and control movements of the robot such as a forward, backward and directions. As well as this, ARM9 cored PAX255 embedded processor and Linux OS is used for the function transmitting BMP format of 320 ${\times}$ 240 pixel for stopped image data.

• 한국전자통신학회논문지
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• 제5권5호
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• pp.541-546
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• 2010

유연한 로봇팔은 모터에 의해 관절 축을 회전할 때 진동이 발생한다. 유연한 팔이 원하는 각으로 회전하면서 동시에 팔 끝의 진동이 안정화되도록 제어하였다. 본 논문에서 유연한 로봇팔의 동력학은 bernoulli-Euler의 beam이론과 라그란지 방정식을 이용하여 구하였고, 섹터 내부에 연속입력함수를 가진 슬라이딩 섹터이론을 이용하여 히스테리시스 사구간을 가진 비선형 제어기를 제안한다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 추계학술발표논문집 (중)
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• pp.1281-1284
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• 2002

본 논문은 인터넷을 이용한 음성통신 서비스를 제공하기 위해 사용되는 VoIP 시스템 칩 설계 및 기능 검증을 위한 보드 개발에 관한 것이다. 구성이 간단한 시스템을 구현하기 위하여 32 비트 RISC 프로세서인 ARM922T 프로세서 코어를 중심으로 IP 망 접속 기능, 톤 발생 및 음성신호 접속기능과 다양한 사용자 정합 기능을 가지는 VoIP 시스템 칩을 설계하고, 이 칩의 기능을 검증하기 위하여 시험 프로그램 및 통신 프로토콜을 개발하였으며, 각종 설계 및 시뮬레이션 툴을 사용하고 ARM922T와 FPGA가 결합된 Excalibur를 사용한 시험용 보드를 개발하여 시험하였다.