• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• 한국통신학회논문지
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• 제42권1호
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• pp.39-41
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• 2017

본 논문에서는 무선 다중셀 다중 사용자 네트워크에서 전송용량과 도청용량의 차로 정의되는 기밀용량을 증대시키기 위한 단말의 전력조절 기법을 제안한다. 모의실험 결과를 통해 제안 전력조절 기법과 임계값 기반의 스케줄링의 결합이 다중셀 환경에서 기밀 전송률을 상당히 향상시킬 수 있다는 것을 확인하였다.

• ETRI Journal
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• 제32권1호
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• pp.44-52
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• 2010

Ultra-wideband (UWB) systems have witnessed a debate over whether they may cause interference to other existing and future narrowband systems sharing their band of operation. The detect and avoid (DAA) mechanism was developed as a solution to reduce interference to narrowband systems in order to ease regulatory concerns. It works by adaptively reducing the transmitted power at the overlapping bands upon detecting an active narrowband link. However, employing DAA degrades the performance of UWB transmissions. In this paper, we present the Korean UWB regulations as an example of regulations that require DAA in certain bands. We investigate DAA's impact on performance and propose a method to mitigate it, which provides UWB with the more efficient support of the DAA mechanism and enables it to avoid a larger number of narrowband users while sustaining the data rate. Results show significant improvement in performance with the application of our technique compared to conventional performance.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 추계종합학술대회
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• pp.61-64
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• 2001

IPv6 상태 비보존형 자동설정 (Stateless Address Autoconfiguration, SAA) 방식은 개념적으로 MANET (mobile ad hoc networks) 환경에 쉽게 적용될 수 있다. 그러나, 비보존형 자동설정 방식의 핵심 프로토콜인 이웃 탐색 프로토콜(Neighbor Discovery protocol, NDP)는 MANET의 multi-link 환경에 적절하지 못하다. 그래서, 본 논문은 MANET 환경에 적절하도록 SAA 메커니즘을 확장하고자 한다. 즉, NDP를 확장하고자 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.311-312
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• 2008

This paper try to show that the method for maintaining link stability by fast reporting the status PDU to RLC layer in MAC layer. The proposed method is implemented based on the mechanism of reordering processing in MAC-ehs entity in HSPA evolution system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.577-582
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• 1989

This is a study of the translational end-point control of a single link flexible arm-with a tip mass. The beam is mounted on a translational mechanism driven by the ball screw, whose rotation is controlled by DC servomotor. The problem of shifting the end-point from its initial position to the commanded position is studied analytically both for the open-loop control subjected to some path functions and for the closed-loop control using the feedback of the tip information.