• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.437-438
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.265-274
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• 2011

This paper presents current state of the prediction simulator of structural characteristics of machinery equipment accuracy. Developed accuracy prediction simulator proceeds and estimates the structural analysis between the designer and simulator through the internet for convenience of designer. 3D CAD model which is input to the accuracy prediction simulator would simplified by the process of removing the small hole, fillet and chamfer. And the structural surface joints would be presented as the spring elements and damping elements for the structural analysis. The structural analysis of machinery equipment joints, containing rotary motion unit, linear motion unit, mounting device and bolted joint, are presented using Finite Element Method and their experiment. Finally, a general method is presented to tune the static stiffness at a rotation joint considering the whole machinery equipment system by interactive use of Finite Element Method and static load experiment.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1043-1049
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• 2012

The FEM analysis of machine tools is the general analysis process to evaluate machine performance in the industry for a long time. Despite advances in FEM software, because of difficult simplicity of CAD drawing, little experience of joints stiffness modeling and troublesome manual contact area divide for bindings, the industry designers think the FEM analysis is still an area of FEM analysis expert. In this paper, the automation of modeling process with simplicity of drawing, modeling of joints and contact area divide is aimed at easy FEM analysis to enlarge utilization of a virtual machine tools. In order to verify the effects of modeling automation, a slant bed type model with tilting table is analyzed. The results show FEM modeling automation method only needed 45 minutes to complete the whole modeling process, while manual modeling method requires almost one month with 8200 calculations for coordinate transformations and stiffness data input.

• Journal of the Korea Convergence Society
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• v.6 no.2
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• pp.57-64
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• 2015

Inductive Power Transfer (IPT) systems have successfully been developed and used to replace traditional conductive power transfer systems where physical connection is either inconvenient or impossible, such as biomedical implants, undersea vehicles, and contactless battery chargers of robots, for providing power to movable or detachable loads. Inductive Coupling uses magnetic fields to transfer power. There is a primary coil, which generates a magnetic field. Then there is another secondary coil which is composed of a capacitor and a coil, the capacitor creates a circuit with the primary and secondary coils. This paper discusses design method and several implementation alternatives for wireless energy transmission systems. It presents realization examples for these alternatives. Wireless energy transmission is investigated in numerous convergence applications due to its simplicity and advantages.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.9 no.5
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• pp.603-613
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• 1998

Resonant characteristic of Whispering modes(W. G. mode) on a dielectric disk resonator is influenced by an external circuit that is placed near the disk to excite this type of modes. In order to evaluate this phenomenon, we divide the disk resonator as two parts; a coupling part in which the mode coupling occurs and on uncoupled region. In the coupled part, we regard the part of the disk as a curved waveguide which is loaded with matched circuit, and derive a coupled mode equation for nonparallel dielectric waveguides. From the coupled mode equation, we calculate coupling coefficients and a coupled electromagnetic field. By using the complex coupling coefficients, we can calculate power transfer. We also calculate a resonant frequency in consideration of the mode coupling phenomenon. The calculated resonance frequence is confirmed by experiment for the resonance characteristics. As the results, it is found that the discrepancy between the theoretical and the experimental resonance frequencies is about 1.28% and the discrepancy between theory and experiment of FSR is about 0.6%.

• Korean Journal of Optics and Photonics
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• v.11 no.6
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• pp.405-410
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• 2000

We propose a novel design concept to improve extinction ratio by minimizing $Cv_e-Cv_o$ . Improvements of loss and fabrication error limit are also obtained by this hybrid design of the lateral shift and curved waveguide to control transfer coefficients, $Cv_e and Cv_o$ . The concept of lateral shift merges two transfer coefficients, and additional curved waveguide controls mode profile asymmetrically to help this minimizing effect of $Cv_e-Cv_o$ with no serious decrease in transfer efficiency. For a given InP based waveguide structure, the mode propagation analysis with an effective index approximation provided a calculational improvement of extinction ratio to -39 dB and fabrication error limit to $57.19\mu\textrm{m}$, with a structure design of $300\mu\textrm{m}$ waveguide curvature and $0.1\mu\textrm{m}$lateral shift. shift.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.3
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• pp.274-283
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• 2006

The Permanent Magnet Synchronous Motor(PMSM) drive systems with ball-screw, gear and timing-belt are widely used in industrial applications such as NC machine, machine tools, robots and factory automation. These systems have torsional vibration in torque transmission from servo motor to mechanical load due to the mechanical couplings. This vibration makes it difficult to achieve quick responses of speed and may result in damage to the mechanical plant. This paper presents adaptive notch filter with auto searching function of vibration frequency to reject the mechanical vibration of linear feeder system with PMSM. The proposed adaptive notch filter can suppress the torque command signal of PMSM in the resonant bandwidth for reject the mechanical torsional vibration. However, the resonant frequency can vary with conditions of mechanical load system and coupling devices, adaptive notch filter can auto search the vibration frequency and suppress the vibration signal bandwidth. Computer simulation and experimental results shows the verification of the proposed adaptive notch filter in linear feeder system with PMSM.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.288-288
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• 2018

점착성 유사는 응집 현상을 겪는 유사로, 응집 현상(Flocculation Process)는 응집 과정(Aggregation Process)와 파괴 과정(Breakup Process)의 경쟁으로 이루어진다고 여겨진다. 응집 현상을 통해 점착성 유사는 물과 점착성을 띠는 작은 입자들의 덩어리인 플럭(Floc)을 형성하여 흐름 내에서는 대부분이 플럭의 형태로 이동한다. 점착성 유사의 응집 모형 중 하나인 플럭 성장모형(Floc Growth Model, FGM)은 상미분 방정식으로 시간에 따른 플럭의 크기를 계산하는 모형이다. 응집과 파괴의 평형 상태에서 평균 입경을 얻는다. 이러한 FGM은 낮은 수치 계산 비용으로 합리적인 계산 결과를 얻을 수 있으며, 유사 이동 모형 혹은 흐름 모형과의 결합이 수월한 장점을 가진다. 또한, 닫힌 계(Closed System)에서 질량이 보존되는 특징이 있다. 반면, 결정론적인 특성을 띠면서 특정 플럭 크기만을 계산하기 때문에 점착성 유사의 입도 분포에 대한 정보를 얻을 수 없다. 결정론적 특성을 띠는 FGM에 추계학적 방법을 적용함으로써 특정 확률 분포형을 가지는 플럭의 입도 분포를 얻을 수 있다. 본 연구에서는 기 개발된 추계학적 FGM과 유사 이동 모형의 결합을 통해 변화하는 유수동역학적 조건에서 플럭의 입도 분포를 산정하고자 한다. 이전의 많은 실험실 실험 결과들은 부유가 발생한 상태를 유지하면서 수행되는 것으로, 특정 난류 특성(난류 소산 매개변수)와 특정 유사 농도 조건에서의 입도 분포를 얻는다. 그러나 하구부 및 하천의 하류는 조류의 영향을 받는 구간으로, 점착성 유사의 특성을 분석하기 위해서는 변화하는 유수동역학적 특성에 관한 고려가 필수적이라 할 수 있다. 결합된 점착성 유사 입도 분포 모형은 플럭의 침강과 재부유를 고려할 수 있는 특징을 가지며, 실측자료와의 비교를 통해 입도 분포를 합리적으로 모의하는 것으로 나타난다. 본 연구에서 개발된 점착성 유사 입도 분포 모형은 나아가 비점착성 유사의 입도 분포 모형과의 결합을 통해 두 종류의 유사가 혼재하는 구간에서도 합리적인 입도분포와 유사의 이동을 모의할 수 있을 것으로 예측된다.