• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.107-116
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• 1993

In the design and operation of robitic arm with flexible links, the equation of motion are required to exactly model the interaction between rigid body motion and elastic motion and to be formulated efficientlyl. In this paper, the flexible link is represented by applying the D-H rigid link representation method to measure the elestic deformation. And the equations of motion of robotic arm, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated from the principle of virtual power. Dynamic characteristics due to elastic deformation of each link are obtained by using F. E. M to model complex shaped link acurately and by eliminating elastic modes of higher order that do not largely affect motion to reduce the number of elastic degrees of freedom. Also presented is the result of simulation of flexible robotic arms whose joints are controlled by direct or PD control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• The Journal of Information Technology
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• v.4 no.3
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• pp.65-75
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• 2001

Code-division multiple access has been widely accepted as the major multiple access scheme in mobile communication systems. Wide-band CDMA and its hybrid associate time-division CDMA are key elements in the mobile communication. Since 10 years ago, there has been enormous research activity in analysis of the capacity of these CDMA-based systems. Recently, upgrading service, high quality and the different service classes in radio resource allocation has recently increased. This paper presents an overview of Radio Resource Allocation on the CDMA-based systems that are flexible, support traffic services, minimize call blocking rate and have acceptable radio resource utilization.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.252-255
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• 1987

High performance requirements such as high speed operation. accuracy and versatility have led to the consideration of structural flexibility in robot arms. The purpose of this study is to investigate the interrelationships between the robot structural flexibility and a linear controller for the rigid body motion. This paper employs an assumed modes method to model both the rigid and flexible motion of the robot arm. The simulation results illustrate the differences between leadscrew driven and unconstrainted axes of the robot.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.183-187
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• 2003

When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, we propose nonlinear observer for one-link flexible am. Then based on the error dynamic equation between the plant dynamic equation and the nonlinear observer dynamic equation of the flexible one-link am, Lyapunov candidate function is applied to achieve a stable deterministic nonlinear feedback controller for the regulation of joint angle.

• Science of Emotion and Sensibility
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• v.24 no.4
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• pp.129-138
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• 2021

This study aimed to determine the effects of the shape and attachment position of stretchable textile sensors coated with carbon nanotube on their performance when used to measure children's joint movements. Moreover, the child-safe requirements for fabric motion sensors are established. The child participants were advised to wear integrated clothing equipped with the sensors of various shapes (rectangular and boat-shaped) and attachment positions (at the knee and elbow joints or 4 cm below the joints). The voltage change induced by the elongation and contraction of the fabric sensors was determined for arm and leg flexion-extension motions at 60 deg/s (three measurements of 10 repeats each for 60°and 90°angles, for a total of 60 repetitions). Their dependability was determined by comparing the fabric motion sensors to the associated acceleration sensors. The experimental results indicate that the rectangular-shaped sensor affixed 4 cm below the joint is the most effective fabric motion sensor for measuring children's arm and leg motions. In this study, we designed a textile sensor capable of tracking children's joint motion and analyzed the sensor shape and attachment position on motion sensing clothing. We demonstrated that flexible fabric sensors integrated into garments may be used to detect the joint motions of the human body.

• Korean Journal of Plant Taxonomy
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• v.45 no.3
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• pp.243-253
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• 2015

Series Chinensis, Genus Iris, endemic to the far regions of East Asia, consists of four species and related varieties. This series is divided into two major groups (I. rossii and I. minutiaurea complex). In this study, the ITS region and matK gene sequences within nuclear ribosomal DNA and plastid DNA were analyzed in order to investigate the phylogenetic relationships among the I. minutiaurea complex (I. minutiaurea, I. odaesanensis, and I. koreana) and the taxonomic identities of a putative hybrid in Mt. Palgong. In the internal transcribed spacer (ITS1, 5.8S, and ITS2) region, a total of 106 cloned genomic sequences from three taxa were obtained to study the intragenomic polymorphisms of the ITS regions. Three taxa revealed high levels of intragenomic polymorphisms, indicative of incomplete nrDNA concerted evolution. This incomplete ITS concerted evolution in the series Chinensis may be linked to the recent species divergence and frequent interspecies hybridization of the series Chinensis. In the matK gene, three taxa were fairly separated by eleven variable sites. In eight individuals collected on Mt. Palgong, putative hybrids between I. odaesanensis and I. minutiaurea were clustered in the I. minutiaurea clade in the NJ (neighbor-joining) tree based on the matK gene. However, in the ITS tree, some of them were clustered in the I. odaesanensis clade and others were clustered in the I. minutiaurea clade. Therefore, the individuals on Mt. Palgong were formed by the hybridization between two taxa (I. odaesanensis and I. minutiaurea) and not through the lineage of I. koreana.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.1
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• pp.120-130
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• 1994

The leadwire cutting machine that has been used recently cuts leadwires by putting one-side force with the same priciple as a saw, and applies a stress at soldered part of PCB. Because the stress becomes one cause of contact-defect, a leadwire cutting robot that cuts leadwire-site with nipper and does not apply stress is considered, In this paper a technique of detecting leadwire-site is studied for the purpose of using on automatic leadwire cutting robots. A technique deriving 2-dimensional site-information with many I-dimensional binary data of perspective front-view of PCB taken from various direction was proposed. Simulation and experiments were done under the same condition each other and a small universal PCB was choosen as an experimental object. As a result of simulations and experiments, the proposed technique turns out to be very useful for automatic leadwire cutting robots.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.