• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• Journal of Korean Library and Information Science Society
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• v.38 no.3
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• pp.321-334
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• 2007

Marketing techniques developed for private organizations are being widely used in libraries. The primary focus in marketing has shifted to maximizing user perceived value from the perspective of library users. This paper examines library as an industry as a way to establish the basis for library's overall value, applies the R-I-R model and its taxonomy of value in using library and information services, and proposes market orientation approach to systematically plan and coordinate academic library marketing activities.

• Smart Structures and Systems
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• v.7 no.2
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• pp.133-152
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• 2011

System identification is a fundamental step towards the application of structural health monitoring and damage detection techniques. On this respect, the development of evolved identification strategies is a priority for obtaining reliable and repeatable baseline modal parameters of an undamaged structure to be adopted as references for future structural health assessments. The paper presents the identification of the modal parameters of the Guangzhou New Television Tower, China, using a data-driven stochastic subspace identification (SSI-data) approach complemented with an appropriate automatic mode selection strategy which proved to be successful in previous literature studies. This well-known approach is based on a clustering technique which is adopted to discriminate structural modes from spurious noise ones. The method is applied to the acceleration measurements made available within the task I of the ANCRiSST benchmark problem, which cover 24 hours of continuous monitoring of the structural response under ambient excitation. These records are then subdivided into a convenient number of data sets and the variability of modal parameter estimates with ambient temperature and mean wind velocity are pointed out. Both 10 minutes and 1 hour long records are considered for this purpose. A comparison with finite element model predictions is finally carried out, using the structural matrices provided within the benchmark, in order to check that all the structural modes contained in the considered frequency interval are effectively identified via SSI-data.

• Geomechanics and Engineering
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• v.20 no.4
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• pp.345-358
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• 2020

Numerous studies have repeatedly demonstrated the efficiency of using skirts to increase the bearing capacity and to reduce settlement of shallow foundations subjected to static loads. However, no efforts have been made to study the efficiency of using these skirts to reduce settlement produced by machine vibration, although machines are very sensitive to settlement and the foundations of these machines should be designed properly to ensure that the settlement produced due to machine vibration is very small. This research has been conducted to investigate the efficiency of using skirts as a technique to reduce the settlement of a strip foundation subjected to machine vibration. A two-dimensional finite element model has been developed, validated, and employed to achieve the aim of the study. The results of the analyses showed that the use of skirts reduces the settlement produced due to machine vibration. However, the percentage decrease of the settlement is remarkably influenced by the density of the soil and the frequency of vibration, where it rises as the frequency of vibration increases and declines as the soil density rises. It was also found that increasing skirt length increases the percentage decrease of the settlement. Importantly, the results obtained from the analyses have been utilized to derive new dynamic impedance values that implicitly consider the presence of skirts. Finally, novel design equations of dynamic impedance that implicitly account to the effect of the skirts have been derived and validated utilizing a new intelligent data driven method. These new equations can be used in future designs of skirted strip foundations subjected to machine vibration.

• Architectural research
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• v.9 no.2
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• pp.1-9
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• 2007

As aging is notably developed, the elderly find it challenging to get around in housing chosen in their midlife, and seek for an alternative residential setting enabling them to continue the independent living. This research focuses on the residential mobility of the elderly who have recently moved to senior housing, and also is to investigate their residential satisfaction at previous residence. As a cross-sectional study, the research adopts the self-administered questionnaire survey. The questionnaires are mailed out, and one out of the two responses is retrieved. To investigate the residential mobility of the elderly, the research model is constructed based upon Morris and Winter's Housing Adjustment Theory. The result shows that the residential mobility of elderly from previous residence is a need-based choice, want-driven behavior and demand-oriented decision to maintain continued independence and utilize resources available during the aging process. Also, it is found that the vast majority of both co-op and rental households are satisfied with their previous residential environment. The previous residential satisfaction of co-op elderly is significantly influenced by household and housing characteristics, housing norm status, and environmental needs for independent living while only housing norm status is a significant predictor to explain the previous residential satisfaction of rental elderly.

• Ocean and Polar Research
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• v.26 no.2
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• pp.333-339
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• 2004

This paper is concerned with an experimental investigation about tractive performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of $0.9\;m(L)\;{\times}\;0.75\;m(B)\;{\times}\;0.4\;m(H)$ and the weight of 167 kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers with variable span. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0\;m(L)\;{\times}\;3.7\;m(B)\;{\times}\;0.7\;m(H)$. Slip of vehicle and driving torque of motor were measured with respect to experimental variables; grouser span, grouser chevron angle, driving speed, drawbar-pull weight, position of center-of-gravity and weight. $L_8$ orthogonal array is adopted for DOE (Design Of Experiment). The effects of experiment variables on traction performance are evaluated.

• Proceedings of the KOSOMBE Conference
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• v.1990 no.05
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• pp.1-6
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• 1990

A new version of moving actuator electromechanical total artificial heart was designed to improve total efficiency, durability, and fitting inside thoracic cavity. As compared with our present type of the rolling cylinder actuator, this new model has a pendulum-type actuator with reciprocating motion around the fixed circular path, connected through the gear mechanisms to the motor. By using this mechanism, the efficiency and durability could be improved by replacing sliding mechanism with rolling contact elements. Also, the height of the pump could be decreased from 9cm to 7cm with static stroke volume 65cc. With these improvements, we have implanted this new pump in human size animal (less than 70Kg weight).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.7
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• pp.1314-1320
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• 2001

DC motors have widely been used in the field of variable-speed driving system since it is easy to control flux and torque of the motors precisely but it is hard to check and maintain those periodically. In addition, there are difficulties in high power and high speed running due to rectifying limit of commutator, and are a lot of restrictions in installation. Therefore, speed control in BLDC(Brushless DC) motors have seriously been studied for a long while. In this paper, a mathematical model of BLDC motor driven by PWM inverter is developed. Dynamics and steady-state characteristics of BLDC motor are simulated and analyzed with a series of experiments for the parameter estimation : torque, speed, phase voltage and current.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.12B
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• pp.1028-1036
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• 2006

Energy conservation is an important issue in wireless networks, especially for self-organized, low power, low data-rate impulse-radio ultra-wideband (IR-UWB) networks, where every node is a battery-driven device. To conserve energy, it is necessary to turn node into sleep state when no data exist. This paper addresses the energy consumption analysis of Direct-Sequence (DS) versus Time-Hopping (TH) multiple accesses and two kinds of sleeping protocols (slotted and unslotted) in PHY-MAC for Un networks. We introduce an analytical model for energy consumption or a node in both TH and DS multiple accesses and evaluate the energy consumption comparison between them and also the performance of the proposed sleeping protocols. Simulation results show that the energy consumption per packet of DS case is less than TH case and for slotted sleeping is less than that of unslotted one for bursty load case, but with respect to the load access delay unslotted one consumes less energy, that maximize node lifetime.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.