• Transactions of the Korean Society of Mechanical Engineers A
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• 제35권6호
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• pp.599-607
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• 2011

In this paper, a reaction-force compensation system for an XY linear motion stage, without an additional external isolation structure or extra motors, is developed. This system consists of a movable magnet track, a spring, a dummy weight, and a dedicated sensor module that measures the relative positions of the movable magnet track with respect to the motor coil. The reaction force compensation system is modeled, and simulations are carried out to optimize design parameters such as the moving distance of the magnet track, the transmission force, the dummy weight, and the allowed size of the mechanism. An XY linear motion stage is built, incorporating the reaction force compensation system, and the performance of the system is verified experimentally. For acceleration and deceleration values of 10 m/$s^2$, 85% of the reaction force is absorbed by the reaction force compensation system.

• Journal of the Korean Society for Precision Engineering
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• 제31권10호
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• pp.929-934
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• 2014

Reaction force compensation (RFC) mechanism can relieve the vibration of base system caused by acceleration and deceleration of mover. In this paper, we propose a new passive RFC mechanism with a movable additional mass to reduce vibration of the system base as well as displacement of the magnet track. First, equation of motion for the new passive RFC mechanism is derived and simulated to tune design parameters such as masses and spring coefficients. Simulation results show that the vibration of the system base of the stage with the new RFC mechanism.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.1095-1096
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• 2012

• Transactions of the Korean Society of Mechanical Engineers A
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• 제34권6호
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• pp.683-693
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• 2010

In this paper, we propose a new parallel mechanism for the legs of biped robots and the control of the robot's locomotion. A leg consists of two 3-DOF parallel platforms linked serially: one is an orientation platform for a thigh and the other is the 3-DOF asymmetric parallel platform for the shank. The desired locomotion trajectory is generated on the basis of the Gravity-Compensated Inverted Pendulum Mode (GCIPM) in the sagittal direction and the Linear Inverted Pendulum Mode (LIPM) in the lateral direction, respectively. In order to simulate the ground reaction force, a 6-DOF elastic pad model is used underneath each of the soles. The performance and effectiveness of the proposed parallel mechanism and locomotion control are shown by the results of computer simulations of a 12-DOF parallel biped robot using $SimMechanics^{(R)}$.

• Journal of the Korean Society for Nondestructive Testing
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• 제25권4호
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• pp.247-253
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• 2005

This study investigated the effects on foot and ankle roll-over characteristics according to different heel heights during walking. Fifteen female volunteers who have neither musculoskeletal nor foot problems were participated in gait analyses, wearing four different pairs of shoes in different heel heights. To obtain roll-over shape of foot/ankle complex, we used trajectories of knee and ankle joints as well as the renter of pressure between initial contact and opposite initial contact. Results revealed that the entire roll-over shape moved distally as the heel height increased but roll-over characteristics showed uniformly with different heel heights. In addition, we found that nondisablea persons automatically adapted to their foot/ankle complex to varying heel heights within 6cm, by moving the origin of roll-over shape distally to maintain roll-over characteristics. However, since the balance of the gait only by the ankle joint could not be achieved beyond the heel height of 6cm, compensations at the knee and the hip joints occurred simultaneously. Roll-over characteristics in human walking would provide simpler and wider understanding of human walking, and furthermore could be applied to the wide understanding of prosthetics and orthotics of the lower extremity as well as orthopaedic shoes.

• Journal of the Korean Geographical Society
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• 제31권4호
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• pp.672-684
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• 1996

This paper explores the inter-ethnic conflicts between Blocks and Hispanics focusing on the emergent Hispanic ethnictity that reveals situational character in the US contexts. In the US census categories, major groups are indetified by race and ethnicity in which the Hispanic orgin is a category based on their common language while diverse in nationality. The census defined Hispanic category extends conveniently to acquiesce Affirmative Action and other government resource distribution. Internally, Hispanics have established numerous organizations to coalesce and assure their interests. The achieved dual language program and jurisdictional revision to represent language minority work as leverages to their cohesiveness. Under diminishing public resources and welfare payment, it is more difficult sharing burdens than benefits between minority groups. Block are not comfortable with the benefits Hispanics receive form the civil rights achievement without having had to struggle for it. The ethnic conflicts of the have-nots have become a new ethnic phenomenon attributable to the emergent Hispanic ethnicity.