• Journal of Biomedical Engineering Research
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• v.25 no.6
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• pp.505-510
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• 2004

In this article, we present an automated system for adjusting the 6 degree of freedom (D.O.F.) circular fixator. The system includes a scheduling software to adjust the Hexapod Circular Fixator (HCF) and an automated strut with the ability of the multiple synchronized motion and independent motion. The HCF was designed to control a 6 D.O.F. Ilizarov fixator and it's mechanism. The HCF adjustment software evaluates each value of altered length of the HCF struts to correct the complex skeletal deformity by using the X-ray data of the patient. The data of HCF adjustment software feed into the automated strut system which provides the scheduled adjustment. Then, the automated strut is synchronized by input data. Also the data of HCF adjustment software can be used to adjust HCF without automated struts. The proposed HCF system was verified by experiments.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• Journal of Mechanical Science and Technology
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• v.20 no.12
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• pp.2105-2114
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• 2006

In this paper, a simplified model is studied to predict analytically the vibration from the helical gear system due to an axial excitation of helical gears. The simplified model describes gear, shaft, bearing, and housing. In order to obtain the axial force of helical gears, the mesh stiffness is calculated in the load deflection relation. The axial force is obtained from the solution of the equation of motion, using the mesh stiffness. It is used as a longitudinal excitation of the shaft, which in turn drives the gear housing through the bearing. In this study, the shaft is modeled as a rod, while the bearing is modeled as a parallel spring and damper only supporting longitudinal forces. The gear housing is modeled as a clamped circular plate with viscous damping. For the modeling of this system, transfer matrices for the rod and bearing are used, using a spectral method with four pole parameters. The model is validated by finite element analysis. Using the model, parameter studies are carried out. As a result, the linearized dynamic shaft force due to the gear excitation in the frequency domain was proposed. Out-of-plan displacement from the forced vibrating circular plate and the renewed mode normalization constant of the circular plate were also proposed. In order to control the axial vibration of the helical gear system, the plate was more important than the shaft and the bearing. Finally, the effect of the dominant design parameters for the gear system can be investigated by this model.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.488-496
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• 1991

Dynamic chanracterisitcs and control of a submerged working robot manipulator have been investigated for articulated type robot manipulator with three revoluted joints. A dynamic equation of the manipulator has been derived. The dynamic equation includes not only mass matrix, centrifugal and Coriolis terms and gravity terms but also added mass, buoyant force and drag force terms, which are important terms for underwater motion description. A series of simulations using computed torque method have been performed for the cases of straight and circular trajectory motion controls. The results of this study show that the dynamic characteristics of the submerged working robot manipulator are very different from that of the manipulator which works in air. The influences of added mass, buoyant force and drag force terms to the total required torques have been discussed as distribution ratios to the total required torques.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.197-203
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• 1999

Increasing demands on precision machining have necessitated the tool to move not only position error as small as possible, but also with smoothly varying feedrates. Because of the lack of accurate and efficient algorithms for generation of 3-dimensional lines and circles, a full accomlishment for available machine tool resolution is generally unavailable. In this paper, a reference-pulse type 3-axis PC_NC milling system is developed for the precision machining of complex shapes in 3-dimensional space. Three AC servomotors are used as the actuator instead of the hand wheel to operate a 3-axis milling machine under the same mechanical structure. A PC is used to handle the control signal calculation for various types of motion command. To achieve the synchronous 3-axis motion, a real-time reference-pulse 3-dimensional linear and circular interpolator based on the intersection criteria is developed in software. The performance test via computer simulation and actual machining have shown that the PC-NC milling system is useful for the machining of arbitrary lines and circles in 3-dimensional space.

• Journal of the Ergonomics Society of Korea
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• v.19 no.2
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• pp.47-61
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• 2000

To study the characteristic of the weight center control of humans, the tracking control capability of circular and wave motion by weight center movement was conducted by using the force platform. The control performance(the integrated value of the $|Object\;value(X)-Control\;Value(Y)|^{2}$) and control trace record was used to evaluate the individual performance characteristics. The size of the population for this study was 73, which consisted of engineering students, students majoring in taekwondo, students majoring in dance, all of which were in their twenties, and also people in their sixties. The results of this study indicate that the weight center control characteristics of humans can be represented by the evaluation method and values. People who were capable of tracking the object did not stop nor overshot the objective. In addition, habits or training characteristics and aging seemed to influence the performance of the subjects. In the future, development of different objectives for weight center control could be used to determine the severity of the disease of the subject and the effects of the treatment.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.435-437
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• 1998

In this productive system, it needs to control the each axis motion harmoniously to perform accurately for the manufacturing, transporting and printing. Independent Axis Control usually used for this objection. However, if Independent Axis Control mismatched the parameter of each axis system or in the case of free curve tracking or the case of high speed control, there would be big contour error so that cannot achieve control objection. As a result, there is Contour Control method suggested to supply for this defect. This paper carried modeling of biaxial system and implemented Independent Axis Control & Contouring Control on straight line, circular, and coner path by simulation and experiment. If feedrate increased, contour error growed. In consequence, according to this factor, we introduced contouring controller, so we could find the fact that contour error was reduced more than that of independent axis control about each path.

• Journal of KSNVE
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• v.9 no.2
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• pp.302-309
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• 1999

In this paper, a circular lined-duct is modeled by using an axisymmetric foam finite element, which is based on elastic porous material theory of Biot. For various thicknesses of three kinds of lining materials, finite element predictions are compared with measurement results and Morse's analytical results. While the analytical model has larger error as the lining becomes thicker, results of the present model have a good agreement with experimental results for all the thicknesses considered here. It has also been found that constraining the axial motion on the circumferential surface of the lining enhances sound attenuation at low freqneucies.

• Journal of the Korean Physical Society
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• v.73 no.10
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• pp.1410-1419
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• 2018

A skier's motion was analyzed by a simple model consist of point mass m and a single rod connected to a single ski plate. We studied the conditions for the stable ski turn as functions of the linear velocity and the radius of the turn. The solutions for the stable ski turn in our model do not require any extra skier's movement to complete a stable circular turn. The solution may then give the skier the most comfortable skiing method without any active movement to control the ski. The generalized force supporting the point mass from the ski plate was calculated. We obtained the force from the ground (rebound force) without any geometrical structure of the ski plate. Adding an active movement to the direction of the ski plate, the conditions for the stable ski turn were also analyzed. Our result gives some insight for the skier who wants to develop technique.