• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.2
• /
• pp.137-142
• /
• 2015

Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

• The Journal of the Korea Contents Association
• /
• v.11 no.10
• /
• pp.137-146
• /
• 2011

In Jane Campion's Stewart, Ada's husband, as like modern people, manifests the infinite lust of conquest. But Banes has a humanistic relation with the New Zealand's tribe and doesn't have a deep attachment of his own land. Stewart represents the ruling reason in that he disregards his wife's desire and acts only for his desire to possess and conquest. In contrast with him, in order to satisfy her desire of the piano and hold her own inner world in common, Banes proposes the extraordinary deal, that is to say, to exchange her piano and his land and to learn playing the piano from her. Like this Banes represents the caring reason in that he regards Ada's desire and cares her in according to her purpose and himself.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.965-970
• /
• 1992

A dynamic modeling and analysis for the Stewart platform type of parallel robot is addressed. The dynamic modeling is performed based on the method of Kinematic Influence Coefficients(KIC) and transfering of the generalized coordinates. The optimum geometric configurations of the system that minimize the actuating forces at the linear actuator are found for several trajectories by using the optimization technique.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
• /
• 2001.05a
• /
• pp.48-53
• /
• 2001

가상현실에 대한 인간의 감성인자를 고려한 재현용 시스템들은 컴퓨터 및 주변장치의 발달과 더불어 다각적인 방향으로 개발되었다. 가상현실의 환경을 조성하기 위해서는 인간의 감성인자들에 대한 연구가 필요하다. 본 연구는 이러한 가상현실 환경에서의 인간의 감성인자들 중 인체의 운동 감성인자를 연구하여, 가상현실의 운동 환경을 가장 효과적으로 재현할 수 있도록 하는 데 그 목적을 두고 있다. 즉 가상현실 환경에서의 운동감을 야기시키는 운동시스템 운동판의 최적의 운동을 발생시킬 운동명령을 생성하는 워시아웃 알고리즘(Washout Algorithm)의 물리적 특성을 연구하고, 워시아웃 알고리즘 내부의 고역필터들의 계수 의미를 파악하여 워시아웃 알고리즘에 의해 생성된 운동명령을 최선의 운동명령으로 보정키 위한 방법을 연구하고자 하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.1067-1070
• /
• 1995

In this paper, we have treated the modeling and development of three degree of freedom parallel manipulator for micromotion based on the Stewart platform type parallel structure. the kinematic modeling was derived from the relation between base coordinate and platform anr the dynamic modeling was from the method of Kinematic Influence Coefficients(KIC) and transferring of the generalized coordinates. Using this method, we presented the method to choose the actuator and joint by investigating the actuating forces needed when the manipulator moves along the given trajectory. In the end, the prototype manipulator was developmented and evaluated.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.736-741
• /
• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.29 no.5 s.236
• /
• pp.537-544
• /
• 2005

The present study numerically investigates two-dimensional fluid flow in the confined jet flow in the presence of applied magnetic field. Numerical simulations to calculate the fluid flow and heat transfer in the confined jet are performed for different Reynolds numbers in the absence and presence of magnetic fields in the range of $0{\le}N{\le}0.05$, where N is the Stuart number (interaction parameter) which is the ratio of electromagnetic force to inertia force. The present study reports the detailed information of flow in the channel at different Stuart numbers. As the intensity of applied magnetic fields increases, the vortex shedding formed in the channel becomes weaker and the oscillating amplitude of impinging jet decreases. The flow fields become the steady state if the Stuart number is greater than a critical value. Thus the pressure coefficients at the stagnation point also vary as a function of Stuart number.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.29 no.6 s.237
• /
• pp.653-661
• /
• 2005

The present study numerically investigates two-dimensional fluid flow and heat transfer ir the confined jet flow in the presence of applied magnetic field. For the purpose of controlling vortex shedding and heat transfer, numerical simulations to calculate the fluid flow and heat transfer in the confined jet are performed for different Reynolds numbers in the absence and presence of magnetic fields and for different Prandtl numbers of 0.02 (liquid metal), 0.7 (air) and 7 (water) in the range of $0{\le}N{\le}0.05$, where N is the Stuart number (interaction parameter) which is the ratio of electromagnetic force to inertia force. The present study reports the detailed information of flow and thermal quantities in the channel at different Stuart numbers. As the intensity of applied magnetic fields increases, the vortex shedding formed in the channel becomes weaker and the oscillating amplitude of impinging jet decreases. The flow and thermal fields become the steady state if the Stuart number is greater than the critical value. Thus the Nusselt number at the stagnation point representing the heat transfer characteristics also vary as a function of Stuart number.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.5
• /
• pp.326-334
• /
• 2019

Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.

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