• 한국정밀공학회지
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• 제30권5호
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• pp.474-479
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• 2013

Mass reduction of the machine tool movable parts is a tool for achieving lower energy demands of the machine tool operation. The realization of lightweight design in machine tool can be achieved by structural lightweight design and material lightweight design. In this study, topology optimization strategy was applied to design optimized structures of movable parts of 5 axis machining center. The weight of ram which has most significant influence on the stiffness of whole machine tool was reduced without stiffness deterioration. The redesigned optimized ram has 24.2% less weight while maintaining the same displacement caused by cutting force.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.831-836
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• 2007

This paper proposes an optimal galloping trajectory which costs low energy and guarantees the stability of the quadruped robot. In the realization of the fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on the energy and stability using a genetic algorithm, which provides the robust and global solution to a multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, computer simulations were carried out.

• 로봇학회논문지
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• 제5권4호
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• IEIE Transactions on Smart Processing and Computing
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• 제5권6호
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.

• Journal of Mechanical Science and Technology
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• 제15권7호
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• pp.866-875
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• 2001

The complex modal testing methods developed for asymmetric rotors are briefly discussed and their performances are experimentally evaluated. For the experiments, a laboratory test rotor is excited by using a newly developed, cost effective magnetic exciter equipped with Hall sensors, which measure the excitation forces. It is concluded that the exciter system is characterized by a wide bandwidth and a high resolution for both the excitation and force measurement, and that the one-exciter/two-sensor technique for complex modal testing of asymmetric rotors is superior to the standard two-exciter/two-sensor technique in terms of practicality and realization.

• 한국공작기계학회논문집
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• 제15권4호
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• pp.39-43
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• 2006

A computer-controlled micro tribotester has been developed to investigate the friction and wear characteristics of thin coatings, which can be applied to silicon-based materials. In the developed system, a step motor gives a reciprocating movement and an electromagnet applies a load between a ball and a plate specimen. Test results confirmed that the application of load in the range of $0.03{\sim}1.8N$ and with a sliding speed of $4.44{\sim}7.70mm/s$ was successfully accomplished. Advantages of the developed micro tribotester are: (1) realization of micro load and displacement applicable to micro electromechanical systems(MEMS) using DC motor and electromagnet (2) continuously variable load and reciprocating speed; and (3) high reliability, which allows for unattended use for long periods.

• 농촌지도와개발
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• 제4권1호
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• pp.29-40
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• 1997

This study aims to analyze the model of 'autonomous regional development', which was initiated in 1980s in Austria, then introduced into Germany and Switzerland. The basic ideas of autonomous regional development are constructed of the peculiarity, the autonomy, the integrity, and the project promotion. The subjects of the development-four poles of the model 'autonomous regional development' -are designed of the land residents, the regional advisers, the regional associations and the state. The concret measures to realize the autonomous regional development are the realization of independent regional economic structures, the autonomy of political decision-makings, and the development of peculiar rural cultures. The autonomous regional development is a new development model, which is founded on the right basic principles. In this model the initiative of the residents is emphasized, and the real autonomy of regional development is required. The principle of autonomy leads to the development of peculiar rural cultures, which keep the peculiarity of the region. The development of rural culture contributes in turn to restoring the identity of residents, which may become a driving force of the rural development.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.556-561
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• 2000

This paper deals with the control of an active bending actuator fur a catheter. The bending actuator with 40mm in length utilizes three zigzag SMA (shape memory alloy) springs which are equally located in the circumference between inner $({\phi}2.5 mm)$ and outer $({\phi}3.0mm)$ tube. It is purposed on realization of desired bending angle $(90^{\circ})$ and direction $(360^{\circ})$. It is also installed in front of the catheter and used to guide a path at extremely bent or branched blood vessel. The performance-analysis of the bending actuator are investigated fur the purpose of optimizing the control of the bending actuator. The analog joy stick is used to command a bending angle and direction for the fast and accurate response. According to the commands of the joy stick, tensile force of each SMA spring is computed and obtained by controlling the temperature of each SMA spring using PWM (pulse width modulation) of supplied electric power.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 추계학술대회 논문집
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• pp.343-348
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• 2011

This paper presents ride comfort characteristics of a quarter-vehicle magneto-rheological (MR) suspension system with respect to different tire pressure. As a first step, controllable MR damper is designed and modeled based on both the optimized damping force levels and mechanical dimensions required for a commercial full-size passenger vehicle. Then, a quarter-vehicle suspension system consisting of sprung mass, spring, tire and the MR damper is constructed. After deriving the equations of the motion for the proposed quarter-vehicle MR suspension system, vertical tire stiffness with respect to different tire pressure is experimentally identified. The skyhook controller is then implemented for the realization of the quarter-vehicle MR suspension system. Finally, the ride comfort analysis with respect to different tire pressure is undertaken in time domain. In addition, a comparative result between controlled and uncontrolled is provided by presenting vertical RMS displacement.

• 한국가시화정보학회지
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• 제5권2호
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• pp.20-25
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• 2007

The geometry of a commercial passenger airplane is realized based on a Boeing 747-400 model through the photographic scanning and reverse engineering. The each element consisting of the plane such as fuselage, wing, vertical fin, stabilizer and engines, is individually generated and then the whole body is assembled by the photomodeler. The maximum error in the realized airplane is about 1.4% comparing with the real one. The three-dimensional inviscid steady compressible governing equations are solved in the unstructured tetrahedron grid system, and in a finite volume method using STAR-CD when the airplane flies at the cruise condition. The pressure distribution on the surface and the wing-tip vortices are visualized, and in addition to the aerodynamics coefficients, lift and drag are estimated.