• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.200-205
• /
• 1989

The performance of conventional robot arms is inhibited by trade-off between speed and accuracy. Because these systems measure only joint angles, in spite of slow speed, they must rely on a stiff structure in order to attain positioning accuracy. Lightweight links would allow faster motion, but their flexibility would also produce positioning errors. This research is involved with the development and evaluation of an End-point Control System whose major goal is to compensate for link deflections and thus mitigate the speed versus accuracy conflict in conventional manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.343-347
• /
• 1992

In this paper, an unilateral teleoperation system using an universal master arm is developed. This system is composed of an universal master arm, a slave arm and a telerobot controller. The universal master arm has a vertically articulated type link structure, while an industrial robot is used as a slave arm. As the shapes of master arm and slave arm are different, the workspace mapping is needed, which maps the workspace of master arm to that of slave arm. Experimental results show that the slave arm of the developed system effectively follows the operator's motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.11a
• /
• pp.488-491
• /
• 2006

In this paper, a slim type actuator is proposed rising a bimorph PZT and a circular rotor link. The bimorph contacts the circular rotor, and its displacement generates the rotational motion of the rotor. The rotor causes the linear motion of AF and zoom lens through gear and a motion guide. The proposed model enables the actuations of many lens groups for zoom module by extending the single lens model. The important design parameter is the contact force determined by the frictional coefficient and preload between the rotor and PZT bimorph. A prototype of the single actuator model is manufactured and experiments results using LDV and tachometer are compared to the theoretical and numerical predictions. Experiments show the linear bimorph actuator model meets the performance criteria of the lens actuation, and it can be applicable to various slim type actuators for AF and zoom motions in mobile cameras.

• Journal of the Korean Society of Safety
• /
• v.6 no.3
• /
• pp.27-34
• /
• 1991

This paper is for the properties of the oxidation-proof of the partially discharged and of the molecular motion on chlorinated PE Film. this paper also shows the properties of the molecular motion of the ${\gamma}$ ray irradiated PE Film. 1 In the surface of the PE Film enforce chlorination, C-Cl be distributed up to 10 $\mu$m deep. 2. In according to the development of the chlorination, the measure of crystalization decreased and cross link occured. 3. Chlorination PE Film control the oxidation on ozone to occuratlon by partial discharge and it lost bonding chlorine. 4. in according to chlorination, ${\gamma}$ absorption in motion of CH2 main chain of PE drcreased by chlorine stbstitution.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.1303-1309
• /
• 2003

This paper presents the static and dynamic measurements for the strength and motion characteristics as well as the improved procedures to assess strength of wheel loaders. Two scenarios for static measurement were decided by which cylinder was actuating. The dynamic measurement was performed for two types of motion, that is, simple reciprocation of the working devices and actual working motion including traveling, digging and dumping. The measured items were stresses, cylinder pressures and strokes. Stress induced by bucket working showed higher level than that by boom working. The measured cylinder speeds were relatively superior to the design speeds. Working stress histories were thought to be closer to static rather than dynamic. A fully assembled FE model was prepared for structural analysis. In this paper, a more simple method was suggested to avoid nonlinearity caused by heave of rear frame under digging forces. Also how brake affected on structural behavior and digging force was examined closely in relation with tire pressure. It was confirmed that the overall stress level of wheel loader during turning traveling with loaded bucket was far lower than the yield stress of material.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.559-571
• /
• 2008

Platform Screen Door(PSD) has been installed and operated at seoul subway line $1\sim4$ in the manual train operation mode(ATS/ATC) by SeoulMetro since 2005. SeoulMetro uses the wireless (RF) communication system and the train door detection system for the link between the train and PSD doors opening/closing motion in the manual train operation mode. For the convenience and safety of passengers, the train doors and the PSD doors opening/closing shall be synchronized as much as possible. In ATO(Automatic Train Operation) mode which provides the interface between train control system and PSD system, ATO signaling system makes the train doors and PSD doors open/close command signals systematically, so PSD doors can be opened/closed almost simultaneously with the train doors. But, in the manual train control(ATS/ATC) mode, PSD system needs to detect the train doors open/close operation and make PSD open/close command signals to actuate PSD doors. These PSD open/close commanding process cause time delay of PSD doors opening/closing motion in response to the train doors opening/closing motion. Sometimes the response delay time can be over 1 second, which is not proper to operate PSD, and need to be reduced This paper presents the reduction method of the PSD response delay time to improve the convenience and safety of passengers.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.3
• /
• pp.342-348
• /
• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Journal of IKEEE
• /
• v.14 no.1
• /
• pp.17-24
• /
• 2010

This paper presents calorie expenditure prediction model of daily activity of elderly living alone for LBS(Location Based Service) applications. The proposed method is to describe the daily activity patterns of older adult using PIR (Passive InfraRed) motion sensors and to examine the relationships between physical activity and calorie expenditure. The developed motion detecting system is composed of a sensing system and a server system. The motion detecting system is a set of wireless sensor nodes which has PIR sensor to detect a motion of elder. Each sensing node sends its detection signal to a home gateway via wireless link. The home gateway stores the received signals into a remote database. The server system is composed of a database server and a web server, which provides web-based monitoring system to caregivers for more effective services. The experiment results show the adaptability and feasibility of the calorie expenditure model.

• Korean Journal of Applied Biomechanics
• /
• v.18 no.3
• /
• pp.51-59
• /
• 2008

The objective of this study is to kinematically analyze forehand & backhand strokes of abscission handicap wheelchair table tennis athletes. The participant of this study were picked out of national athletes who have abscission handicap. Forehand stroke movement was expected to show a throw like motion. However, external rotation and internal rotation of the right arm created a backswing and an impact. Backhand stroke was expected to show a push like motion, and as expected, proximal part of the body didn't participate in the stroke motion, but the distal part, the right arm, rotated internally to backswing and external rotated to impact to form a push like motion. Forehand swing was expected to show throw like motion according to the Link Segmental System principle. However, abscission handicap athlete didn't show clear linking structure connecting proximal and distal parts. Successful strokes were dependant only on the angle of arm rotation.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.806-811
• /
• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.