• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.815-817
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• 2022

This paper is about the development of an automatic stair climbing trolley for carrying loads without manpower. The design of tri-wheeled structure and center of mass enable the trolley to move on flat ground and also to ascend stairs by self-balancing. The overall design enables the trolley to avoid collision to walls when the trolley rotates on domestic landings. When the camera recognizes the stair, the sensor measures distance from the trolley to the stair. Then the trolley can move to align itself in the middle of the stair and it starts climbing. It can ascend to a specific floor based on the floor number entered by the user. As a result, the automatic stair climbing trolley is expected to help humans by protecting from accidents of dropping loads and saving their power. It is also expected to use for various purposes such as delivering packages, moving and carrying heavy loads in buildings without elevator.

• Archives of Plastic Surgery
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• v.47 no.6
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• pp.583-589
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• 2020

Background Reduction mammoplasty or mastopexy is performed as an additional balancing procedure in patients with large or ptotic breasts who undergo breast-conserving surgery (BCS). Radiation therapy on breasts that have undergone surgery may result in changes in the volume. This study presents a comparative analysis of patients who received post-BCS balancing procedures to determine whether volume changes were larger in breasts that received radiation therapy than on the contralateral side. Methods Thirty-six participants were selected among patients who received BCS using the inverted-T scar technique between September 2012 and July 2017, were followed up for 2 or more years, and had pre-radiation therapy computed tomography images and post-radiation therapy images taken between 12 and 18 months after completion. The average age of the participants was 53.5 years, their average body mass index was 26.62 kg/㎡. Results The pre- and post-radiation therapy volumes of the breasts receiving BCS were 666.08±147.48 mL and 649.33±130.35 mL, respectively. In the contralateral breasts, the volume before radiation therapy was 637.69±145.72 mL, which decreased to 628.14±166.41 mL after therapy. The volume ratio of the affected to the contralateral breasts was 1.05±0.10 before radiation therapy and 1.06±0.12 after radiation therapy. Conclusions The ratio of the volume between the two breasts immediately after surgery and at roughly 18 months postoperatively was not significantly different (P=0.98). For these reasons, we recommend a simultaneous single-stage balancing procedure as a reasonable option for patients who require radiation therapy after BCS without concerns regarding volume change.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.101-106
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• 2006

Balance shaft has a key role in reducing a engine vibration in a vehicle and widely applied for current models. Since balance shaft module consists many sub-component and each part has its own operational characteristics, some different analysis backgrounds should be integrated into one sub-part in balance shaft module and this is the main obstacles in making a design process. Moreover, the balancing shaft is rotating in high speed and such condition requires large safety factors in a design process owing to a lot of unexpected problems with the overwhelming rotation. Balance shaft is the core-component generating the intended unbalance as well as cancelling the unbalance force or moment by the engine module. So, the balance shaft should meet the high fatigue resistance not to mention of NVH performance. In this paper, a design strategy focused on balance shaft is developed to build a optimal model considering a engine vibration. Putting the unbalance mass distribution as main design parameter, some candidate model is verifed with structural and fatigue analysis and most appropriate model is proposed here.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2006.11a
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• pp.135-138
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• 2006

We developed an engine system design program by balancing the pressure-mass-power relation which can be acquired from each component's specification. In gas generator type open-cycle rocket engine system it is possible to distinguish the variables into two categories, which are input variables and requirement variables. We define 11 design variables corresponding to the 11 balance equations as functions of pressure, mass and power of target engine system. We solved these equations by Newton method. As an example we designed gas generator cycle engine system and finally we could conclude that this developed program is well suited to the engine system design.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.47-58
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• 2009

In this study, a Hardware-In-the-Loop (HIL) simulator using thrusters is developed to validate the spacecraft attitude system. To control the attitude of the simulator, eight cold gas thrusters are aligned with roll, pitch and yaw axis. Also linear actuators are applied to the HIL simulator for automatic mass balancing to compensate the center of mass offset from the center of rotation. The HIL simulator consists of an embedded computer (Onboard PC) for simulator system control, a wireless adapter for wireless network, a rate gyro sensor to measure 3-axis attitude of the simulator, an inclinometer to measure horizontal attitude, and a battery set to supply power for the simulator independently. For the performance test of the HIL simulator, a bang-bang controller and Pulse-Width Pulse-Frequency (PWPF) modulator are evaluated successfully. The maneuver of 68 deg. in yaw axis is tested for the comparison of the both controllers. The settling time of the bang -bang controller is faster than that of the PWPF modulator by six seconds in the experiment. The required fuel of the PWPF modulator is used as much as 51% of bang-bang controller in the experiment. Overall, the HIL simulator is appropriately developed to validate the control algorithms using thrusters.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.183-189
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• 2016

In this paper, an optimization study on a helicopter rotor blade cross-section was made. Generalization was made to the baseline cross-section to simplify the analysis. To have better performance in aeroelastic response, with the aerodynamic center being the origin of the baseline, the distance between aerodynamic center and shear center, and the distance between mass center and shear center of the blade were minimized. For efficient searching of optimum solutions over the design space, grid search method, which is a method of graphical search was used. Two design variables, radius of balancing weight at leading edge, and offset of the spar from leading edge were selected for the study. Cubic spline interpolation method was used to accommodate searching of the optimum solution. 2-Leveled searching system was devised in accordance with the interpolation method. Optimum solution was found to show 6% decrease in both distance between aerodynamic center and shear center, and mass center and shear center to the baseline.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.5
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• pp.837-844
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• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• New & Renewable Energy
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• v.3 no.4
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• pp.22-30
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• 2007

An expansion device plays an important role in optimizing the heat pumps by controlling refrigerant flow and balancing the system pressures. Conventional expansion devices are being gradually replaced with electronic expansion valves due to increasing focus on comfort, energy conservation, and application of a variable speed compressor. In addition, the amount of refrigerant charge in a heat pump is another primary parameter influencing system performance. In this study, the flow characteristics of the expansion devices are analyzed, and the effects of refrigerant charge amount on the performance of the heat pump and the variation of compressor speed are investigated at various operating conditions. Mass flow rate through capillary tube, short tube orifice, and EEV was strongly dependent on the upstream pressure and subcooling. The heat pump system is very sensitive with a variation of refrigerant charge amount. The performance of it can be optimized by adjusting the flow rate through expansion device to maintain a constant superheat at all test conditions.