• 전기학회논문지
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• 제60권1호
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• pp.78-84
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• 2011

In this paper, the switching frequency and THD for the reduction instead of traditional single phase inverter using a new type of central arm of the single phase inverter is proposed. The proposed single phase inverter topology, the existing one to add a arm by two-way central switch 3-level output voltage can be raised and, central arm, especially one or two of the switches by using a switch to the diode current switching algorithm was simplified. During the dead time because of this, depending on the direction of the current level does not appear in any other existing level compared to the inverter output voltage level of the THD has the advantage that less can be. The simulation and experimental results verified the validity of the proposed topology.

• 대한기계학회논문집
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• 제19권1호
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• pp.22-37
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• 1995

Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2010년도 하계학술대회 논문집
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• pp.39-40
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• 2010

본 논문에서는 기존 방식의 단상 인버터가 아닌 central arm을 이용한 새로운 형태의 단상 인버터를 제안하였다. 제안된 토폴로지는 기존의 단상 인버터와 동일한 정현파 출력 전압을 가지면서 기존 멀티레벨 인버터에 비해 스위치 수를 감소시키고도 전압 출력이 3-레벨을 가지므로 출력 전류의 THD 함유를 적게 가져갈 수 있는 장점이 있다. 이에 토폴로지의 타당성을 시뮬레이션을 통해 검증하였다.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.190-196
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• 2009

This study proposes a structural design method for the upper control arm installed at the rear side of a SUV. The weight of control arm can be reduced by applying the design and material technologies. In this research, the former includes optimization technology, and the latter the technologies for selecting aluminum as a steel-substitute material. Strength assessment is the most important design criterion in the structural design of a control arm. At the proto design stage of a new control arm, FE (finite element) analysis is often utilized to predict its strength. This study considers the static strength in the optimization process. The inertia relief method for FE analysis is utilized to simulate the static loading conditions. According to the classification of structural optimization, the structural design of a control arm is included in the category of shape optimization. In this study, the kriging interpolation method is adopted to obtain the minimum weight satisfying the strength constraint. Optimum designs are obtained by ANSYS WORKBENCH and the in-house program, EXCEL-kriging program. The optimum results determined from the in-house program are compared with those of ANSYS WORKBENCH.

• ETRI Journal
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• 제40권5호
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• pp.653-663
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• 2018

Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding-mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding-surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.

• 대한기계학회논문집A
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• 제21권1호
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 한국컴퓨터정보학회논문지
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• 제24권12호
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• pp.101-108
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• 2019

본 연구는 임산부 스스로가 자신의 체형을 어떻게 인식하는지 유형화에 대한 주관적인 평가와 유형별 특성을 고찰함으로써 임산부의 체형에 대한 만족감을 향상시킬 수 있는 의복개발에 필요한 기초자료를 제공하고자 하였다. 본 연구는 Q방법론으로 이루어졌으며, QUANL pc Program으로 분석하였다. 임산부의 체형에 대한 인식유형은 가는 팔다리 중앙 반구형 복부 체형, 처진 복부 돌출 체형, 굵은 윗팔 중앙 돌출 복부 체형의 3가지 유형으로 분석되었다. 향후 연구에서는 실제 체형 분석을 통해 인식체형과의 차이를 비교해보는 것도 의미 있는 연구가 될 것으로 생각된다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.43-48
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• 2002

We show that humans execute the postural control ingeniously by regulating the impedance properties of the musculo-skeletal system as the motor command against the alteration of the environment. Adjusting muscle activity can control the impedance properties of the musculo-skeletal system. To quantify the changes in human arm viscoelasticity on the vertical plane during interaction with the environment, we asked our subject to hold an object. By utilizing surface electromyographic(EMG) studies, we determined a relationship between the perturbation and a time-varying muscle co-activation. Our study showed when the subject lifts the object by himself the muscle stiffness increases while the torque remains the same just before the lift-off. These results suggest that the central nervous system(CNS) simultaneously controls not only the equilibrium point(EP) and the torque, but also the muscle stiffness as themotor command in posture control during the contact task.

• 보존과학회지
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• 제32권1호
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• pp.11-19
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• 2016

승자총통은 중국 화기를 모방하여 선조(宣祖,1552-1608) 시기에 독자적인 화기 제작방식으로 만들어진 우리나라 유통식 소화기(小火器)이다. 이 연구는 경희대학교 중앙박물관 소장 승자총통을 중심으로 명문 판독 결과와 함께 과학분석 결과를 정리한 것이다. 경희대학교 중앙박물관에 소장하고 있는 승자총통 3점은 각 원소의 함량차이가 크지 않은 Cu-Sn-Pb 삼원계 합금으로 제작되었고 분석대상 중 미세조직 분석이 가능한 승자총통 1의 미세조직을 분석한 결과 일반적인 주조방식에 의해 제작되었으며 추가적인 열처리나 담금질 흔적은 관찰되지 않는다는 점이 밝혀졌다. 또한 승자총통 제작 시 사용한 납의 출처를 알아보고자 납동위원소비 분석을 실시한 결과 한국 남부 zone 2 지역(경상북도 북부와 강원도 남부지역)의 납광석을 사용하여 승자총통을 제작한 것으로 판단된다.

• 한국기계가공학회지
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• 제14권2호
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• pp.105-111
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• 2015

Car manufacturers and part manufacturers each have their own criteria with regard to strength, stiffness and NVH performance levels. Part manufacturers typically investigate such performances according to the part unit. To do this, the part manufacturer receives information from the relevant car maker. However, the information provided by the car maker is limited, making it difficult to develop a part which meets all of the design requirements specified by the car unit overall. To overcome this difficulty, the utilization of a VPG system is recommended for the designer. In this study, the durability performance of an optimized control arm as suggested in a previous study was investigated using the ETA-VPG, LS-dyna and FE/safe software packages. ETA-VPG provides several types of suspension and steering parts. In this study, a complete car is created using the library included in ETA-VPG, with the exception of the control arm. We also conducted a virtual proving ground analysis to predict the life cycle of the control arm.