• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.216-223
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• 2010

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.242-247
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• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.05a
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• pp.327-332
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• 2002

We made a human-sensitive motion interpretation to the interactive emotional robot, "Rai" of which the mechanism design was carried out and completed. Kinematic system of this emotional robot mainly consists of a body and a head. The body contains the total control units , the communicat ion modules and also two wheels and motors for main driving which make kinds of motions 1 ike the inverted pendulum. This robot system is designed under the concept on the human-friendly mot ion and react ion wi th humans around living room and office environments. Therefore, various scenarios are constructed in order to enable the emotional expressions at those places. Especially, we interpreted technically-possible motions while accommodating to the scenarios constructed. And we performed some experiments to make sere of the possibility of the motion interpretation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.12 no.3
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• pp.99-103
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• 1998

We propose a nonlinear feedback controller that can control the induction motors which have been applied to many electrical facilities with high dynamic performance by means of decoupling of moor speed and rotor flux. The nonlinear feedback controller needs the information on some motor parameters. Among them, rotor resistance varies greatly with machine temperature. Anew recursive adaptation algorithm for rotor resistance which can e applied to our nonlinear feedback controller is also presented in this paper. To demonstrate the practical significance of our results, we present some experimental results.

• Journal of the korean Society of Automotive Engineers
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• v.12 no.6
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• pp.48-59
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• 1990

A finite element program was developed using line elements for simulating the stretch/draw forming operation of an arbitrarily-shaped plane-strain section. An implicit, incremental, updated Lagrangian formulation is employed, introducing a minimum plastic work path assumption for each time step. Geometric and material nonlinearities are also considered within each time step. The finite element equation is based on the mesh-normal, which compatibly describes arbitrary tool surfaces and FEM meshes without depending on the explicit spatial derivatives of tool surfaces. The membrane approximation is adopted under the plane stress assumption. The sheet material is assumed to obey a rigid-viscoplastic constitutive law. The developed program was tested in the die-tryout of typical automotive inner panels. In order to determine a single friction coefficient and boundary length, FEM results and measurements of thinning for a stretched section of final die were compared. After finding analysis parameters, the sheet forming operations of original and final die designs were simulated. Excellent agreement between measured and computed thickness strains was obtained and the developed program was able to identify die designs which were rejected during die tryout.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.187-193
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• 2002

Since the bus is regarded as the one of the most public transportation systems, research on the safety and facilities of the bus has been increased actively in recent years. In this paper, we concern the design of the bus door mechanism that is composed of many linkages and actuators(or motors). In particular, the folding door mechanism is representative system installed in most of urban buses. To design the folding door mechanism, we construct the kinematic and dynamic analysis model fur computer simulation. Also, the dynamic analysis is accomplished by both direct dynamics and inverse dynamics. Since the folding door mechanism has many design variables, the analysis program is developed to perceive kinematic and dynamic characteristics according to the design variables and simulation conditions.

• Journal of Biosystems Engineering
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• v.13 no.2
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• pp.9-17
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• 1988

This study was carried out to develop an agricultural robot for fruit harvesting. As the first step an experimental manipulator and its control system were constructed. The articulated manipulator driven by DC motors has 3 degrees-of-freedom. The manipulator has a gripper adequate for fruit harvesting and an upper arm which forms a kind of guiding channel so thai harvested fruit can pass through. Point-to-point control of joints are accomplished by a digital control system with a PID controller which consists of optical shaft encoders, power amplifiers using PWM, a microcomputer and a software. The microcomputer also computes the positions of manipulator and sequence of motions. The motion of the manipulator was to slow and rough that it would need further improvement.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.4
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• pp.154-160
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• 2007

The experimental system, developed in this research, is a teaching material that trains and practices automobile electric circuit in technical high school. This system consists of a textbook, 15 kinds of instruments and 62 kinds of 'Flash' animations. Textbook includes automobile electric circuits and experimental process. Instruments have 23 kinds of drills. Its is composed of electrical relays, motors, switches, light bulbs, electrical lines and power unit so on. 'Flash' animation displays an electrical current flow on circuits actually. Both Dacum method and ISD skill have been conducted to analysis job and design syllabus. The experimental system have been implemented on technical high school class to evaluate its objectivity and effect. It is expected that this system can contribute to studying of car service.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.44-51
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• 2011

Polymer Electrolyte Fuel Cells (PEFCs) operate in wide-range changes in temperature, humidity, and electric current for automotive applications. In order to operate automotive PEFC efficiently, optimal air supply is required to adjust to these changes. This paper presents an air-supply optimization process that consists of experiments, modeling of the PEFC system, and optimization. The objective is to establish an air supply suitable for the required power for PEFC system and optimized with a Lagrange multiplier. Our simplified PEFC system model is used as a constraint for optimization problem. The result of this paper presents that efficient operation of PEFC system can be achieved by air-supply optimization.