• Journal of the Korean Society for Precision Engineering
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• v.27 no.4
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• pp.53-62
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• 2010

This study introduces about development of multi-DOF ultrasonic motor that are composed of a bar-shaped stator and a spherical rotor. The ultrasonic motor is a motor which is operated by vibrations over frequency of 20kHz. The multi-DOF ultrasonic motor will be developed by expanding the basic theory of existing 1-DOF ultrasonic motor. It can generate 3-DOF rotation of the rotor around perpendicular axes using 3 vibration modes of stator. By using finite element methods, the optimal dimension of stator is decided and made the components of stator. When we apply the multi-DOF ultrasonic motor composed of rotor and stator to the driving test system, it will be checked whether the motor can be driven at the direction of 3-DOF or not. And it is proposed how the simulation of square bar shaped multi-DOF ultrasonic motor is accomplished.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.235-240
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• 2001

A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts： the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared： the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.

• Molecules and Cells
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• v.40 no.3
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• pp.178-185
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• 2017

Nitrogen is one of the most important mineral elements for plant growth. We studied the functional roles of Oryza sativa DNA BINDING WITH ONE FINGER 18 (OsDOF18) in controlling ammonium uptake. The growth of null mutants of OsDOF18 was retarded in a medium containing ammonium as the sole nitrogen source. In contrast, those mutants grew normally in a medium with nitrate as the sole nitrogen source. The gene expression was induced by ammonium but not by nitrate. Uptake of ammonium was lower in osdof18 mutants than in the wild type, while that of nitrate was not affected by the mutation. This indicated that OsDOF18 is involved in regulating ammonium transport. Among the 10 ammonium transporter genes examined here, expression of OsAMT1;1, OsAMT1;3, OsAMT2;1, and OsAMT4;1 was reduced in osdof18 mutants, demonstrating that the ammonium transporter genes function downstream of OsDOF18. Genes for nitrogen assimilation were also affected in the mutants. These results provide evidence that OsDOF18 mediates ammonium transport and nitrogen distribution, which then affects nitrogen use efficiency.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.4
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• pp.393-400
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• 2012

This paper deals with a development of 2-DOF flutter experiment equipment which represents a 2-DOF typical section model. For a conventional 2-DOF flutter experiment equipment, it is hard to observe flutter boundary clearly due to the complexity of the experiment equipment. To refine our flutter experiment equipment system, a compliant mechanism based torsional spring is used. Well-designed extruded aluminum pipe works as a torsional spring. SolidWorks and ANSYS are used for modeling, analysis and design of the torsional spring. With this designed torsional spring, the 2-DOF flutter experiment equipment is developed and wind tunnel tests are performed. Clear flutter boundary which is estimated by classical flutter analysis is observed in the experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.193-200
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• 2002

Simple spring-damper-mass models have been widely used to investigate whole-body vortical biodynamic response characteristics of the seated vehicle driver. Most previous models have not considered the effect of wobbling masses; i.e. heart, lungs, liver, intestine, etc. In this study, 4 -DOF seated driver model including one non-rigid mass representing wobbling visceral mass, 5-DOF model including intestine, and 10-DOF model including five lumbar vertebral masses were proposed. The model parameters were identified by a combinatorial optimization technique. simulated annealing method. The objective function was chosen as the sum of error between model response of seat-to-head transmissibility and driving point mechanical impedance and those of experimental data for subjects seated erect without backrest support. The model response showed a good agreement with the experimental response characteristics. Using a 10-DOF model, calculated resonance frequency of lumbar spine at 4Hz was matched well with experimental results of Panjabi et al.

• Smart Structures and Systems
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• v.20 no.4
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• pp.397-413
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• 2017

Precast concrete (PC) members are currently being employed for general construction or partial replacement to reduce construction period. As assembly work in PC construction requires connecting PC members accurately, measuring the 6-DOF (degree of freedom) relative displacement is essential. Multiple planar markers and camera-based displacement measurement systems can monitor the 6-DOF relative displacement of PC members. Conventional methods, such as direct linear transformation (DLT) for homography estimation, which are applied to calculate the 6-DOF relative displacement between the camera and marker, have several major problems. One of the problems is that when the marker is partially hidden, the DLT method cannot be applied to calculate the 6-DOF relative displacement. In addition, when the images of markers are blurred, error increases with the DLT method which is employed for its estimation. To solve these problems, a hybrid method, which combines the advantages of the DLT and MCL (Monte Carlo localization) methods, is proposed. The method evaluates the 6-DOF relative displacement more accurately compared to when either the DLT or MCL is used alone. Each subsystem captures an image of a marker and extracts its subpixel coordinates, and then the data are transferred to a main system via a wireless communication network. In the main system, the data from each subsystem are used for 3D visualization. Thereafter, the real-time movements of the PC members are displayed on a tablet PC. To prove the feasibility, the hybrid method is compared with the DLT method and MCL in real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Smart Structures and Systems
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• v.10 no.4_5
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• pp.313-329
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• 2012

A challenging issue in design and implementation of an effective structural health monitoring (SHM) system is to determine where a number of sensors are properly installed. In this paper, research on the optimal sensor placement (OSP) is carried out on the Canton Tower (formerly named Guangzhou New Television Tower) of 610 m high. To avoid the intensive computationally-demanding problem caused by tens of thousands of degrees of freedom (DOFs) involved in the dynamic analysis, the three dimension finite element (FE) model of the Canton Tower is first simplified to a system with less DOFs. Considering that the sensors can be physically arranged only in the translational DOFs of the structure, but not in the rotational DOFs, a new method of taking the horizontal DOF as the master DOF and rotational DOF as the slave DOF, and reducing the slave DOF by model reduction is proposed. The reduced model is obtained by IIRS method and compared with the models reduced by Guyan, Kuhar, and IRS methods. Finally, the OSP of the Canton Tower is obtained by a kind of dual-structure coding based generalized genetic algorithm (GGA).

• Coupled systems mechanics
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• v.8 no.4
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• pp.351-375
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• 2019

The present work investigates the use of a rigid rocking block as a tool to reduce vibrations in a frame structure. The study is based on a simplified model composed by a 2-DOF linear system, meant to represent a general M-DOF frame structure, coupled with a rocking rigid block through a linear visco-elastic device, which connects only the lower part of the 2-DOF system. The possibility to restrain the block directly to the ground, by means of a second visco-elastic device, is investigated as well. The dynamic response of the model under an harmonic base excitation is then analysed in order to evaluate the effectiveness of the coupling in reducing the displacements and the drift of the 2-DOF system. The nonlinear equations of motion of the coupled assemblage 2-DOF-block are obtained by a Lagrangian approach and then numerically integrated considering some reference mechanical and geometrical quantities as variable parameters. It follows an extensive parametric analysis, whose results are summarized through behaviour maps, which portray the ratio between the maximum displacements and drifts of the system, with and without the coupling with the rigid block, for several combinations of system's parameters. When the ratio of the displacements is less than unity, the coupling is considered effective. Results show that the presence of the rocking rigid block improves the dynamics of the system in large ranges of the characterizing parameters.