• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.342-345
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• 1995

This paper describes the design process and the experimental results of a fuzzy logic controller to control the tip position of a fixible-link manipulator, directly driven by a AC motor, with a large payload. The joint angle fuzzy logic controller is designed without a costly nonlinear system analysis of the flexible manipulator and the AC motor drive system. The state variables for the fuzzy logic controller are joint angle, joint velocity, link deflection, and link deflection velocity. The simulation and experimental results show that the joint position control is not satisfactory when the controller is designed under the assumption of no link flexibility and that stable joint position control and link vibration suppression can be cahieved with the fuzzy logic controller suggested in this paper.

• Journal of the Ergonomics Society of Korea
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• v.12 no.2
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• pp.63-83
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• 1993

The primary objective of the research is to develop a mathematical method to incorporate the variability of anthropometric body dimensions and joint strengths of individuals in a biomechanical analysis. A multivariate normal simulation model estimated anthropometric body dimensions and joint strengths of the random link-person, based on the assumptions that the vari- ables of body dimensions and joint strengths are correlated and follow normal distributions. Statistical comparative analysis demonstrated that the random link-person represented a more realistic human-like form in an anthropometric sense than the proportional link-person whose body dimensions were estimated proportionally. Estimated joint strengths for the random link-person, however, did not match the measured joint strengths as closely as the estimated body dimensions. The random link-person will allow biomechanical analysis of manual materials handling tasks to be individualized with respect to the anthropometry and a static strength.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.139-147
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• 2020

In this paper, design measure were proposed for the construction of terminal systems for airborne platforms, which are key element in the Joint Tactical Data Link System (JTDLS) complete system. The Korean perfect tactical data link (JTDLS) is a communication system to establish an independent tactical data link network and needs to develop a MIDS-LVT (Link-16) communication terminal for datalink. Once a Ground/Navy JTDLS terminal system is established around airborne platform, it will be possible to break away from reliance on NATO-based tactical data link joint operations and establish independent Korean surveillance reconnaissance real-time data sharing and tactical data link operations concepts. in this paper, the essential development elements of airborne platform mounting and operable JTDLS terminals are presented, and the concept of system design is proposed to embody them. Further, improved system performance was analyzed by applying the concepts of complex relative navigation system and Advanced TDMA protocol for the deployment of airborne tactical datalink networks.

• Journal of KSNVE
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• v.9 no.5
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• pp.1050-1057
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• 1999

The existence of clearance at the link joint of a machine is inevitable for assembly and mobility. During the cyclic operation of a machine, rapid changes of the direction and magnitude of connection forces cause momentary loss of contact between the pin and the bushing at the link joint. Contact loss at the clearance joint gives rise to undesirable impact. The impulsive force affects on the performance of the machine, and leads to excessive vibration, noise and faster wear in the connecitons. In this paper, experiment and theoretical analysis were carried out for the variation of crank speed and clearance size. The link mechanism employed in this investigation was newly designed to check the effects of parameter changes on the occurrence of contact loss and on the magnitude of the impact force. The contact loss and impact position were calculated with various driving conditions.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1045-1052
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• 2021

Modern Warfare is transforming into a Network Centric Warfare(NCW) where surveillance systems, command control systems and strike systems are interconnected with advanced IT technologies to share battlefield situations. The South Korean military is using the various tactical data links(TDL) such as Link-K, Link-16, Link-11 and KVMF depending on each military's battlefield situation. Joint Tactical Data Link System(JTDLS) is a system thar shares tactical information in near-real time between army/navy/air joint forces and additionally establishes Link-22 in Link-K, Link-16 and KVMF. In this paper, we propose the Link-22 system structure, Link-22 message analysis and the interface structure between the tactical data link processor and Link-22 to apply Link-22 to the JTDLS.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.223-226
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• 2008

This paper presents an effectiveness of a four-link mechanism with a tip which has four joints, but only one is an active joint. Even though the degree-of-freedom of the mechanism is one, it can be applied to implement a combined joint motion adequately. So, this paper analyzes its motion for effective robotic applications.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.3
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• pp.393-403
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• 1999

In this research, a reach posture prediction based on a two-segment trunk model was made. Recently, reach posture prediction models have used inverse kinematics to provide a single posture that a person naturally takes, with a single segment trunk model that had some shortcomings. A two-segment trunk model was first developed with two links; pelvis link and lumbar-thoracic link. The former refers to the link from the hip joint to L5/S1 joint while the latter does the link from L5/S1 to the shoulder joint. Second, a reach prediction model was developed using the two-segment trunk model. As a result, more reliable equations for two-segment trunk motion were obtained, and the lean direction which refers to the movement direction of the trunk was not found to have a significant effect on the two-segment trunk motion. The results also showed that the hip joint is more preferred over L5/S1 to serve as a reference point for trunk models and the reach prediction model being developed predicted the real posture accurately.