• Transactions of the Korean Society of Mechanical Engineers
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• 제15권2호
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.

• Journal of the Korean Mathematical Society
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• 제52권6호
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• pp.1305-1321
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• 2015

We dene new link invariants which are called the quasitoric braid index and the cyclic length of a link and show that the quasitoric braid index of link with k components is the product of k and the cycle length of link. Also, we give bounds of Gordian distance between the (p,q)-torus knot and the closure of a braid of two specific quasitoric braids which are called an alternating quasitoric braid and a blockwise alternating quasitoric braid. We give a method of modication which makes a quasitoric presentation from its braid presentation for a knot with braid index 3. By using a quasitoric presentation of $10_{139}$ and $10_{124}$, we can prove that $u(10_{139})=4$ and $d^{\times}(10_{124},K(3,13))=8$.

• ETRI Journal
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• 제20권1호
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• pp.16-27
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• 1998

In this paper, we consider the acquisition performance of an IS-95 reverse link access channel slot as a function of system design parameters such as postdetection integration length and the number of access channel message block repetitons. The uncertainty region of the reverse link spreading codes compared to that of forward link is very small, since the uncertainty region of the reverse link is determined by a cell radius. Thus, the parallel acquisiton technique in the reverse link is more efficient than a serial acquisition technique in terms of implementation and of acquisition time. The parallel acquisition is achieved by a bank of N parallel I/Q noncoherent correlator are analyzed for band-limited noise and the Rayleigh fast fading channel. The detection probability is derived for multiple correct code-phase offsets and multipath fading. The probability of no message error is derived when rake combining, access channel message block combining, and Viterbi decoding are applied. Numerical results provide the acquisition performance for system design parameters such as postdetection integration length and number of access channel message block repetitions in case of a random access on a mobile station.

• 연구논문집
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• 통권24호
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• pp.13-26
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• 1994

The choice of design parameters for a robot arm depends on the desired workspace, load lifting capacity, application requirements, and the performance of the robot. The inverse process, which is the determination of a single robot's workspace for a given specification is also a common practice and is as important to the designers as it is to the users. Based on the geometric influence coefficients, the workspace areas on the vertical Y-Z plane are investigated and calculated. Using these areas, the effects of link parameters, link length ratios and joint rotation angles, are investigated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.51-52
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• 2010

• Journal of the Institute of Convergence Signal Processing
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• 제7권4호
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• pp.214-220
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• 2006

This paper presents the systematic isotropy analysis of a fully actuated caster wheeled omnidirectional mobile robot (COMR) with the steering link offset different from the wheel radius, which can be considered as the generalization of the previous analysis. First with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize there different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify four different sets of all possible isotropic configurations. Fourth, for each set the expressions of the isotropic characteristic length required for the isotropy of a COMR are elaborated.

• Transactions of the Korean Society of Mechanical Engineers
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• 제18권9호
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• pp.2257-2264
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• 1994

A method to evaluate the position performance for a stochastically defined planar robot manipulator is presented. Performance is defined as the operational reliability based upon the positional errors of the manipulator tip. An analytical method is developed and applied to a two-link robot manipulator through forward kinematics. This study includes uncertainties in the link length, pin center location and radial clearance. By virtue of the effective link length model, only the nominal manipulator model and statistical information on the uncertainties are required. The results from the analytical method is compared to those from the Monte Carlo simulation.

• Proceedings of the KSME Conference
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.795-800
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• 2000

In a parallel manipulator, there are three constraints that determine workspace: link length constraint, passive joint angle constraint, and interference among links. Generally, the link length constraint is the most dominant. The interference among links is, however, also an important parameter in designing a desired parallel manipulator. In this study, the interference among links is mathematically modeled by considering the links as a line and a cylinder of radius of twice the link radius, and a new algorithm is suggested to check if arbitrary two links interfere each other or not. The workspace of a cubic parallel manipulator is illustrated in a 2D space satisfying the three constraints.

• Journal of information and communication convergence engineering
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• 제11권1호
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• pp.1-6
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• 2013

Suppressing or mitigating signal distortion due to group velocity dispersion and optical Kerr effects is necessary in ultra-high speed and long-haul wavelength division multiplexing (WDM) transmission systems. Dispersion management (DM), optical phase conjugation (OPC), and the combination of these two are promising techniques to compensate for signal distortion. In this paper, to implement a flexible optical WDM network, a new optical link configuration with a randomly distributed single-mode fiber (SMF) length and fixed residual dispersion per span in the combination of DM and OPC is proposed and investigated. The simulation results show that the best net residual dispersion (NRD) in the proposed optical links is +10 ps/nm, which is independent of pre- and postcompensation. The effective launch power of the WDM channel is increased more in the optical links with NRD = +10 ps/nm controlled by only precompensation. Furthermore, the system performance difference between the proposed optical link configuration with the best NRD and the conventional optical link with uniform distribution of the SMF length had little significance. Consequently, it is confirmed that the proposed optical link configuration with the best NRD is effective and useful for implementing a reconfigurable long-haul WDM network.

• Proceeding of EDISON Challenge
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• 제5회(2016년)
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• pp.384-388
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• 2016

This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.