• 스마트미디어저널
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• 제2권4호
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• pp.51-59
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• 2013

백본망의 지속적인 고속화는 충분한 가용대역폭을 제공하고 있지만 장거리 대용량 데이터 전송에서 이를 잘 활용하지 못하고 있다. 이는 대부분 응용들이 TCP를 사용하는데서 원인을 찾을 수 있으며 TCP는 전송메커니즘 특성상 고속네트워크에서 신속한 가용대역폭 확보가 어렵다. UDT는 응용계층 전송프로토콜로써 고속네트워크에서 용을 목표 설계된 잘 알려진 프로토콜이다. 본 논문에서는 네트워크 혼잡상태에 적응적인 UDT 병렬전송기법에 대해 제안하고 다음 두 가지 관점에서 성능을 평가한다. 첫째, UDT Rate 혼잡제어에 따른 전송성능을 측정하고 UDT의 성능과 비교한다. 둘째, 네트워크 상태에 적응적인 UDT 병렬전송기법의 전송성능에 대해 분석한다. 실험결과 UDT Rate 혼잡제어의 경우 jitter를 30ms로 설정한 경우 RTT 100ms 구간에서 UDT에 비해 106%의 성능향상을 보였다. 또한 Rate 혼잡제어를 적용한 병렬전송의 경우 jitter를 20ms로 설정한 경우 RTT 400ms 구간에서 UDT 병렬전송에 비해 107% 성능향상을 실험을 통해 확인하였다.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.764-775
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• 2002

A kinematic and dynamic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. To provide sufficient degrees-of-freedom in the rolling process and the structural stability of each stand, a parallel manipulator with six legs is considered. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. By splitting the weighted Jacobian matrices Into two parts, the linear velocity, angular velocity, force, and moment transmissivities are analyzed. A manipulability measure, the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring Joints, are optimally designed by maximizing the global manipulability measure in the entire workspace. The maximum force needed in the hydraulic actuator is also calculated using the structure determined through the kinematic analysis and the Plucker coordinates. Simulation results are provided.

• Journal of Mechanical Science and Technology
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• 제17권1호
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• pp.23-31
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• 2003

This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.

• 전기학회논문지
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• 제62권3호
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• pp.424-430
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• 2013

This paper presents a new design works for the braking chopper system which is included in the propulsion system of KTX high speed train. Due to the current fed type synchronous motors used in the propulsion system, some different behaviors are shown comparing to the voltage type other chopper systems. Specially this chopper system acts either braking controlling or regenerative power controlling system with a parallel resistive load in the propulsion system. In this paper, an improved simple high power IGBT brake chopper system has proposed which is able to be replaced with an existing complicated GTO chopper system. The analytical approaches to the parallel load type current chopper system and the propper snubber circuits calculation were explained in this paper to control new chopper system. In addition, the thermal resistance of the cooling system for power dissipation of IGBT modules was calculated also. Finally several PC simulations have been done to clarify its availability.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.559-567
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• 2000

This paper proposes simple and practical methods in order to overcome complex formulation and heavy computational burden of the forward kinematics of 6 앨 3-6 type parallel manipulators. Three ap-proaches for the forward kinematics are presented : one extra sensor a modified structure and novel numerical method. The proposed methods are applied to the forward kinematics of a new 6 앨 parallel manipulator with special geometry that has three internal links three external links and a moving platform of a cone shape. The proposed methods use three tetrahedrons for finding the position and orientation vector of the moving platform. The main advantages of the appraches using tetrahedrons are to abbreviate the formulation to easily find so-lutions of the forward kinematics and to be able to practically control of the manipulator in real time.

• 로봇학회논문지
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• 제10권2호
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• pp.119-132
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• 2015

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

• 전력전자학회논문지
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• 제19권1호
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• pp.15-22
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• 2014

Recently, parallel operation of dc-dc converters has been widely used in distributed power systems. In this paper, a control method to achieve parallel operation of three-phase bi-directional isolated interleaved dc-dc converters is discussed for the battery charging and discharging system which consists of the 32 battery charger/dischargers and two three-phase bi-directional isolated interleaved dc-dc converters. In the boost mode, the battery energy is delivered to the grid, whereas the grid energy is transferred to the battery in the buck mode operation. The average current sharing control method is employed to obtain an equal conducting of each phase current in the three-phase dc-dc converter. By using the proposed method, the imbalance factor is gratefully reduced from 8 percent to 1 percent. Two 2.5kW three-phase bi-directional dc-dc converter prototype have been built and the proposed method has been verified through experiments.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.274-276
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• 2007

In this paper, a low cost and high reliability control scheme is proposed for 400Hz UPS system operated in parallel. The proposed control scheme is consisted of two parts which are synchronization and load sharing control. The synchronization control is achieved by discrete logic ICs and analog circuit. The load sharing control is realized by current transformers (CTs) without any controller. Therefore, This proposed control scheme is rather simple and the cost may be decreased, compared with control scheme using expensive controller such as DSP and CAN. The practical feasibility of the proposed control scheme is proved by analysis and simulation.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.324-337
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• 1999

In this work, a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. And a 6 DOF hybrid manipulator which consists of a 3-PPR type planar 3 DOF parallel mechanism and a new 3-PSP type spatial 3-degree-of-freedom parallel mechanism is proposed. Both 3 DOF mechanism modules have closed-form forward position solutions and particularly, 3-PSP spatial module has unique forward position solution. Firstly, the closed-form position analysis and first-order kinematic analysis for the proposed 3-PSP type module are carried out, and the first-order kinematic characteristics are examined via maximum singular value and the isotropic index of the mechanism. It is shown through these analyses that the mechanism has excellent isotrpic property throughout the workspace. Secondly, position and kinematic analysis of the 3-PPR planar module are briefly described. Thirdly, the forward position analysis for the 3-PPR 3-PSP type 6 degree-of-freedom hybrid mechanism consisting of a 3-PPR planar module and a 3-PSP spatial module is performed along with the analysis of the workspace size and first-order kinematic characteristics. The kinematic characteristics of the proposed hybrid manipulator are compared to those of geometrically similar Stewart manipulator.