• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.66-72
• /
• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.18 no.12
• /
• pp.1217-1223
• /
• 2008

Vehicle vibration mostly originates from the road excitation and causes discomfort, fatigue and even injury to a driver. Vehicle ride comfort is one of the most important performance indices to achieve a high-quality vehicle design. Since design parameter variations inevitably result in the vehicle ride comfort variance, the variance characteristics should be analyzed in the early design stage of the vehicle. The vehicle ride comfort is often defined by an index which employs a weighted RMS value of the acceleration PSD of a seat position. The design solution is obtained through two steps in this study. An optimization problem to obtain a minimum ride comfort index is solved first. Then another optimization problem to obtain minimum variance of the ride comfort index is solved. For the optimization problems, the equations of motion and the sensitivity equations are derived basing on a 5-DOF vehicle model. The numerical results show that an optimal solution for the minimum ride comfort is not necessarily same as that of the minimum variance of the ride comfort.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.5
• /
• pp.2454-2468
• /
• 2019

The existing direct position determinations(DPD) for coherently distributed(CD) sources are mostly applicable for uniform linear array(ULA), which result in a low degree of freedom(DOF), and it is difficult for them to realize the effective positioning in underdetermined condition. In this paper, a novel DPD algorithm for coherently distributed sources based on compressed sensing with a moving nested array is present. In this algorithm, the nested array is introduced to DPD firstly, and a positioning model of signal moving station based on nested array is constructed. Owing to the features of coherently distributed sources, the cost function of compressed sensing is established based on vectorization. For the sake of convenience, unconstrained transformation and convex transformation of cost functions are carried out. Finally, the position coordinates of the distribution source signals are obtained according to the theory of optimization. At the same time, the complexity is analyzed, and the simulation results show that, in comparison with two-step positioning algorithms and subspace-based algorithms, the proposed algorithm effectively solves the positioning problem in underdetermined condition with the same physical element number.

• Journal of the Korea Society of Computer and Information
• /
• v.24 no.8
• /
• pp.29-35
• /
• 2019

This paper proposes a UAV equipped with an automatic control system for educational purposes such as navigation flight or autonomous flight. The proposed UAV is capable of automatic navigation flight and it is possible to control more precisely and delicately than existing UAV which is directly controlled. And it has the advantage that it is possible to fly in a place out of sight. In addition, the user may arbitrarily change the route or route information to use it as an educational purpose for achieving the special purpose. It also allows you to check flight status by shooting a video during flight. For this purpose, it is designed to check the image in real time using 5.8GHz video transmitter and receiver. The flight information is recorded separately and used as data to judge the normal flight after the flight. The result of the paper can be flighted along the coordinates specified using GPS information. Since it can receive real-time video, it is expected to be used for various education purposes such as reconnaissance of polluted area, achievement of special purpose, and so on.

• Journal of the Semiconductor & Display Technology
• /
• v.6 no.4
• /
• pp.23-27
• /
• 2007

Rotary stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor quality products. To evaluate and improve the performance of such precision rotary stage, undesired movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of the worm gear type spindle with high precision capacitive sensors. To obtain the radial error motion, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have designed and developed the sensor mounting jig with standard cylinder for reversal method.

• Journal of Biosystems Engineering
• /
• v.34 no.5
• /
• pp.315-324
• /
• 2009

Various types of vibration are transmitted to operators of agricultural tractors while working in the field. Most harmful vibration to human body is ride vibrations with low frequency ranging from 1 to 10 Hz, caused by rough terrain. These ride vibration has vertical and rotational components. This study was conducted to develop an active seat suspension system with two degrees of freedoms, enabling effectively reduce vibrations in vertical and pitch motions. Therefore, a mechanism for the active seat suspension was developed, and an electro-hydraulic servo system and a controller to drive the active seat suspension system were also developed in this study. A simulation model was developed to evaluate how the active seat suspension system effectively reduce the vibrations transmitted to the base of seat. Active seat suspension was optimized to enhance the performance using the developed simulation model. The performance of the seat suspension system was evaluated according to the test codes described in EEC78/764 in order to investigate the feasibility of application to agricultural tractors. The result showed that the developed active seat suspension system could reduce the magnitude of vertical vibration up to 80% for the input vibrations according to the test codes described in EEC78/764. The system could reduce the rotational displacement of ${\pm}\;2.5$ degrees up to 50% for the pitch vibration on the average in the frequency range of 1 to 2 Hz.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.2
• /
• pp.119-125
• /
• 2020

A high Reynolds number transonic wind tunnel has been built in 2018 at Agency for Defense Development(ADD). The tunnel has a closed circuit with a 1.5m×1.5m test section and is injection driven from a 140bar air supply system. The Mach number range is 0.3-1.2 with a conventional contracting nozzle and 1.4 with a convergent-divergent contraction. The stagnation pressure range is 100-550kPa at the lowest Mach number. An AGARD-B standard model is tested in the transonic wind tunnel to obtain 6-DOF aerodynamic coefficients. The results are compared with those obtained from ADD trisonic wind tunnel and others. We verify that the transonic wind tunnel become available to develop an aircraft from the testing results.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.3
• /
• pp.285-291
• /
• 2011

The error motion of a machine tool spindle directly affects the surface errors of machined parts. The error motions of the spindle are not desired errors in the three linear direction motions and two rotating motions. Those are usually due to the imperfect of bearings, stiffness of spindle, assembly errors, external force or unbalance of rotors. The error motions of the spindle have been needed to be decreased to desired goal of spindle's performance. The level of error motion is needed to be estimated during the design and assembly process of the spindle. In this paper, the estimation method for the five degree of freedom (5 D.O.F) error motions of the spindle is suggested. To estimate the error motions of the spindle, waviness of shaft and bearings, external force model was used as input data. And, the estimation models are considering geometric relationship and force equilibrium of the five degree of the freedom. To calculate error motions of the spindle, not only imperfection of the shaft, bearings, such as rolling element bearing, hydrostatic bearing, and aerostatic bearing, but also driving elements such as worm, pulley, and direct driving motor systems, were considered.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.4
• /
• pp.393-398
• /
• 2015

A very important part in vibration analysis is to calculate the frequency response function (FRF). In general, a large sized or/and complicated structure has many thousands to millions of degrees. Therefore, the FRF cannot be calculated by the traditional analysis method using an inverse matrix. This paper presents a new FRF calculation method of a superstructure by synthesizing sub-structure modes, of which the DOF can be deduced by partitioning into some sub-structures. To confirm its analysis results, the method was applied to an assembled plate ($B300{\times}L900{\times}t5mm$) with three diagonal sub-plates($B300{\times}L300{\times}t5mm$) in series and compared with the measured data. The test results have were comparable those of the calculated ones with an error less than 5%.

• Journal of Ocean Engineering and Technology
• /
• v.28 no.5
• /
• pp.466-473
• /
• 2014

Underwater gliders do not have any external propulsion systems that can generate and control their motion. Generally, underwater gliders would obtain a propulsive force through the lift force generated on the body by a fluid. Underwater gliders should be equipped with mechanisms that can induce heave and pitch motions. In this study, an inner movable and rotatable mass mechanism was proposed to generate the pitch and roll motions of an underwater glider. In addition, a buoyancy control unit was presented to adjust the displacement of the underwater glider. The buoyancy control unit could generate the heave motion of the underwater glider. In order to analyze the underwater dynamic behavior of this system, nonlinear 6-DOF dynamic equations that included mathematical models of the inner movable mass and buoyancy control unit were derived. Only kinematic characteristics such as the location of the inner movable mass and the piston position of the buoyancy control unit were considered because the velocities of these systems are very slow. The effectiveness of the proposed dynamic modeling was verified through sawtooth and spiraling motion simulations.