• Journal of Korean Society of Transportation
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• v.13 no.4
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• pp.79-103
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• 1995

The elasticity of a model is considered most important. Without showing the proper elasticity any model cannot provide useful information for decision making. This paper demonstrates a macro model which can generate dynamic transport informations every 15 minutes. Without the Wardrop principles and the monotonicity assumptions for the link travel time and link volume relationship, the basic elements of this new modeling approache are composed of link density simulation, stochastic incremental route choice, departure time choice, destination choice and mode choice. The elasticity of the proposed model is examined based on elasticity equations and simulation results. Also the transferability from a mega city like Seoul to a big city like Daejon is demonstrated for the choice model. The issues centering around the dynamic relations among density(k), speed(u), and flow rate(v) are also discussed for the modeling of highly congested situations.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2002.07a
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• pp.447-450
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• 2002

Recently polymeric insulators and arresters are being used for outdoor high voltage applications. Polymeric insulators for transmission line have significant advantages over porcelain and glass insulators, especially for ultra-high voltage(UHV) transmission lines. Their advantages are light weight, vandalism resistance and hydrophobicity. Polymeric insulator kind are a relatively new technology, but their expected life is still unknown. In this paper, the material property for polymeric insulating material such as silicone rubber and EPBM is investigated by cross-link time and the relation between tracking resistance and W resistance is analyzed by IEC 60587 and W aging experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.523-527
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• 1991

A rubber pneumatic controlled actuator is a new actuator. It is very light With a high power-to-weight ratio. In this thesis, a control method for a two link robot arm using the rubber actuator is developed. The structure of the servo control is made up of two sections. The position control is performed by PID feedback control. The air pressure is controlled by Servo Valve Unit driven by PWM and the control input is compensated by software operation. The numerical simulation of this control method to two link robot arm is presented to verify the performance of the closed loop system. The actual control of the real two link robot arm with rubber actuator is taken and its results are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.16-20
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• 1988

This paper presents a new algorithm for solving the inverse kinematics in real-time applications. The end-tip movement of each link can be resolved into the basic resolution unit, .DELTA.l, which depends on link length, reduction ratio and resolution of the incremental encoder attached to the joint. When x- and y-axis projection of the end-tip movement are expressed in .DELTA.l unit, projectional increments .DELTA.x and .DELTA.y become -1, 0 or I by truncation. By using the incremental computation with these ternary value and some simple logic rules, a coordinate transformation can be realized. Through this approach, it should be noted that the floating-point arithmetic and the manipulation of trigonometric functions are completely eliminated. This paper demonstrates the proposed method in a parallelogram linkage type, two-link arm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.694-697
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• 1997

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle load characteristics is increasing. In this paper, the link unit of the 3-axis road simulator is designed and simulated with dynamic analysis software ADMS. and the maximum stress and strain are analyzed for the safety of link and specifications of optimal design using finite element method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.397-401
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• 1997

An error analysis is very important for a precision machine to estimate its performances. This study deals with error of a new parallel device, cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the cubic parallel device vary depending on the stiffness of the manipulator. The stiffness of each link depends on the directions of the link and actuation force. In this paper, the stiffness of the manipulator is calculated by ARAQUS and the position and orlentation errors are predicted within a given workspace. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing parallel devices.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.833-836
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• 1999

In this paper, the communication performance and its characteristics of the polar Low Earth Orbit(LEO) mobile satellite have been described in terms of the generalized performance parameters via geometric modeling and analysis. Especially, the general formula related to the parameters such as the number of orbits(M) and the number of satellites per orbit(N) were derived in the LEO satellite system for voice service, and then we applied the general result to IRIDIUM system(M＝6, N＝11) that would be scheduled to commercialize soon. The offered traffic of Inter Satellite Link(ISL), ISL link blocking probability as well as both new call blocking probability and the probability of forced termination for the on going call are calculated as the result of performance analysis.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.5
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• pp.777-787
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• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.50-67
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• 2015

The Cognitive Radio (CR) paradigm in tactical ad hoc networks is an important element of future military communications for network-centric warfare. This paper presents a novel Cognitive Link State Routing protocol for CR-based tactical ad hoc networks. The proposed scheme provides prompt and reliable routes for Primary User (PU) activity through procedures that incorporate two main functions: PU-aware power adaptation and channel switching. For the PU-aware power adaptation, closer multipoint relay nodes are selected to prevent network partition and ensure successful PU communication. The PU-aware channel switching is proactively conducted using control messages to switch to a new available channel based on a common channel list. Our simulation study based on the ns-3 simulator demonstrates that the proposed routing scheme delivers significantly improved performance in terms of average end-to-end delay, jitter, and packet delivery ratio.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.583-586
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. The four bar mechanism has higher strength and gear ratio than the conventional actuator to actutate the leg of the biped robot. One leg was designed to have ankle, thigh, and hip joints. The kinematics and dynamics of one leg with four bar link mechanism was analyzed using Euler-Lagrange approach. The dynamics of one leg was expressed in the ball strew frame.