• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.781-786
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• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• 한국정밀공학회지
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• 제31권10호
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• pp.897-904
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• 2014

In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.

• 대한기계학회논문집A
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• 제37권1호
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• pp.89-95
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• 2013

본 연구에서 병렬형 매니퓰레이터는 두 개의 평행판 위를 움직이는 슬라이더와 말단장치가 임의로 조정될 수 있는 링크를 가지고 있고, 두 개의 슬라이더에 각각 연결된 링크는 커플링운동을 한다. 매니퓰레이터의 정기구학 및 역기구학 해석을 통하여 슬라이더의 위치 및 말단장치의 위치 사이의 관계식을 나타내는 변위방정식을 유도하고, 유도된 방정식으로부터 정기구학 및 역기구학의 자코비안 행렬들을 구한다. 이러한 행렬들을 이용하여 매니퓰레이터의 지역 성능지수를 제안한다. 성능지수의 시뮬레이션 결과로부터, 매니퓰레이터는 한 사분면에서만 원활한 운동을 할 수 있고, 링크 길이 비와 말단장치의 자세가 최대 성능지수가 분포하는 영역의 변화에 중대한 영향을 미친다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제14권4호
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• pp.412-429
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• 2008

최근 들어 인터넷의 성장으로 인하여 문서의 양이 기하급수적으로 증가함에 따라, 대용량의 문서를 마르게 검색 할 수 있는 병렬 정보 검색 엔진에 대한 중요성이 더욱 대두되고 있다. 병렬 정보 검색 엔진을 구현하기 위하여서는 역 색인을 분할하고, 분할된 역 색인을 통하여 병렬적으로 검색하는 것이 필요하다. 역 색인을 분할하는 기존 방법으로는 1) 문서 식별자 분할 방법과 2) 식별자 분할 방법이 있다. 그러나 각 분할 방법은 다음과 같은 단점들을 가지고 있다. 문서 식별자 분할 방법은 문서의 추가가 용이하고 처리량(throughput)이 높은 반면에 top-k 질의 처리 성능이 좋지 않다. 그리고 식별자 분할 방법은 top-k 질의 처리 성능이 좋은 반면에 문서의 추가가 어렵고 처리량이 낮다. 본 논문에서는 이러한 단점들을 해결하기 위하여 혼합 분할 방법을 제안하고 이를 정보 검색 기능과 밀결합된 DBMS인 오디세우스에 실현한 병렬 정보 검색 엔진을 설계하고 구현한다. 먼저, 제안된 병렬 정보 검색 엔진인 오디세우스/parallel-OOSQL의 아키텍쳐를 설명한다. 그리고 체계적인 실험을 통하여 제안된 시스템의 유용성을 보인다. 실험 결과, 문서 식별자 분할 방법은 질의 처리 시간이 역 색인 분할의 블록의 개수에 근사적으로 역 비례함을 보였으며, 키워드 식별자 분할 방법은 top-k 질의 처리에 좋은 성능을 보였다. 본 논문에서 제안된 병렬 정보 검색 엔진은 세 가지 분할 방법을 모두 제공하기 때문에 응용 환경에 따라 분할 방법을 커스터마이즈함으로써 항상 좋은 성능을 낼 수 있다. 오디세우스/parallel-OOSQL 병렬 정보 검색 엔진은 각 슬레이브 노드 당 1억 건의 웹 문서를, 시스템 전체로는 수십억 건의 웹 문서를 인덱스하여 저장하고 질의를 처리할 수 있다.

• Kyungpook Mathematical Journal
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• 제53권1호
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• pp.117-124
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• 2013

We show that for 1 < $p$ < ${\infty}$, $k$, $m{\in}\mathbb{N}$, $n^{(k)}(l_p)=inf\{n^{(k)}(l^m_p):m{\in}\mathbb{N}\}$ and that for any positive measure ${\mu}$, $n^{(k)}(L_p({\mu})){\geq}n^{(k)}(l_p)$. We also prove that for every $Q{\in}P(^kl_p:l_p)$ (1 < $p$ < ${\infty}$), if $v(Q)=0$, then ${\parallel}Q{\parallel}=0$.

• 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.

• 한국입자에어로졸학회지
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• 제8권2호
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• pp.75-81
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• 2012

The strength of lumped cokes can be represented by some index numbers. Although some indexes are suggested, these indexes are not enough to enlighten fracture mechanism. To find essential mechanism, a computational way, discrete element method, is applied to the uniaxial compression test for cylindrical specimen. The cylindrical specimen is a kind of lumped particle mass with parallel bonding that will be broken when the normal stress and shear stress is over a critical value. It is revealed that the primary factors for cokes fracture are parallel spring constant, parallel bond strength, bonding radius and packing ratio the parallel bond strength and radius of the parallel combination the packing density. Especially, parallel spring constant is directly related with elastic constant and yield strength.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.