• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1195-1200
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• 2013

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.531-534
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• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1012-1017
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• 2007

To reduce the cost and the time of transport in Eurasian railroad networks such as TKR(Trans-Korea Railway), TCR(Trans-China Railway) and TSR(Trans-Siberia Railway) owing to the problem of different track gauges (narrow/standard/broad gauge), it is important to develop the gauge - adjustable wheelset system to adapt easily to these gauges. Moreover, this system accomplishes periodically a conversion operation from the gauge variable segment between different gauge. Gauge adjustable compression coil spring during conversion process accomplishes repetitively a central role for operation mechanism between flange and locking part. Therefore, to assure the safety of the gauge-adjustment wheelset system, it is necessary to stress analysis of the optimized spring in the system. In this study, it was performed to optimal design of the spring for stress analysis by using the genetic algorithm.

• Journal of Drive and Control
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• v.18 no.4
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• pp.19-27
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• 2021

A bunker bed is a type of furniture that efficiently utilizes a narrow indoor space by having a high bed and using the empty space below as a living and storage space. The demand for multi-purpose furniture is increasing due to the recent increase in single-person households and wide-spread shared accommodation. According to the consumer research, one of the major drawbacks of a bunker bed was to get on and off the bed through a ladder or stairs. In order to overcome these problems, it was confirmed that the height adjustment function that can easily adjust the minimum and maximum heights of the bed was necessary. In this study, a height adjustable bunker bed was designed by using a gas spring that generates a repulsive force by the compressed gas inside. The design process consisted of the following three steps: Firstly, the hysteresis characteristics due to a friction and spring constant of a commercial gas spring were confirmed by measuring the repulsive force vs. compressed displacement. Secondly, requirements of the vertical lifting force exerted on the bed against gravity force were derived. Finally, the height-adjustable bed using the four-bar link mechanism was designed with 4 parameters so that the bed weight of 60-70 kgf could be adjusted to 800 mm in height by an affordable initial operation force. The performance was verified through prototype production and the results of vertical displacement and force to move were nearly the same as designed. In addition, an electrically operated height-adjustable bed was also designed with linear actuators and the performance was proved with the prototype.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1382-1385
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• 1993

In order to improve productivity, an intelligent control system is presented in the pater. In this intelligent control system, a feedforward neural network and a fuzzy feedback mechanism are adopted to achieve a constant milling force with an adjustable feedrate under a variety of cutting conditions in milling operations.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.6
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• pp.23-33
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• 1996

The exploitation of locality of reference in shared memory NUMA multiprocessors is one of the improtant problems in parallel processing today. In this paper, we propose a revised hardeare reference counter to help operating system to manage locality. In contrast to the previous one, the value of counter can abe adjusted dynamically and periodically to adapt the page replication policy to the various memory reference patterns of processors. We use execution-driven simulation of real applications to evaluate the effectiveness of our adjustable DELAY counter. Our main conclusijon is that by using the adjustable DELAY counter the t normalized average memory access costs and the variance of them become smaller for most applications than the previous one and more robust memory management policies can be provided for the operating systems.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.3
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• pp.331-341
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• 2018

This study proposes an integrated serial spring-damper mechanism as a dual pulse generation system. Compared to the traditional dual pulse generation system, which used multiple springs and a damper to generate a dual pulse critical for impact testing of naval equipments, currently used separated serial spring-damper mechanism is comprised of two components: an air spring, and a damper. The proposed mechanism combines the two components into one integrated system with a unique design that lets simply changing the volume and the pressure of the air tank, and the length of the annular pipe adjust the stiffness and damping constants for testing, eliminating the need to have multiple sets of air springs and dampers. Simulations using MatLab and Simulink were conducted to verify the feasibility of this design. The results show the potential of an integrated serial spring-damper mechanism as a more convenient and flexible mechanism for dual pulse generation system.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.11
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• pp.1207-1213
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• 2012

Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.856-859
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• 2003

The switched reluctance motor(SRM) drive system provides a good adjustable speed and torque characteristics. However, because of the torque production mechanism, it also has some disadvantage such as higher torque ripple and fluctuation in speed. To reduce torque ripple and to control speed precisely, digital signal processor(BSP) is adopted. The DSP TMS320F241 was used to be realized this drive system. Test results show that the suggested control system has the ability of dynamic and precise speed control.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.4
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• pp.42-51
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• 2018

Verticality problem during the installation process in offshore wind turbine substructures could degrade the safety of the whole structures. Therefore, in this paper, the design of vertically adjustable transition piece(T.P.), using a PS anchor and grout of anchor socket in concrete gravity based substructure(G.B.S.), was proposed. T.P. was designed for 5MW offshore wind trubine and can adjust up to $0.5^{\circ}$ in verticality, occurred during installation. The design plan for each members and design procedure for T.P. was proposed. Then based on the proposed design, actual design targeting sea of Jeju-island was carried out. Finally, by use of non-linear 3D Finite Element Analysis(F.E.A.), evaluation of design was performed. As a result of evaluation, by checking load transfer mechanism and stress of T.P, proposed design was considered safe up to $0.5^{\circ}$ of adjustment.