• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2331-2336
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• 2005

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an operator to use it on a desktop in due consideration of the size of an average Korean. The proposed haptic device has a small workspace for on operator to use it on a desktop and more sensitivity than a serial type haptic device. Therefore, the motors of the proposed haptic device are fixed at the base plate so that the proposed haptic device has a better dynamic bandwidth due to a low moving inertia. With this conceptual design, optimization of the design parameters is carried out. The objective function is defined by the fuzzy minimum of the global design indices, global force/moment isotropy index, global force/moment payload index, and workspace. Each global index is calculated by a SVD (singular value decomposition) of the force and moment parts of the jacobian matrix. Division of the jacobian matrix assures a consistency of the units in the matrix. Due to the nonlinearity of this objective function, Genetic algorithms are adopted for a global optimization.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.353-354
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• 2013

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.775-776
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• 2009

공간데이터를 관리하는 공간 index structure는 대부분 순차처리를 위한 구조를 가지고 있다. 많은 응용분야에서 방대한 양의 공간 데이터는 보조기억장치(예: disk)에 저장이 되어 사용이 되고 공간 index structure의 operation은 I/O에 대한 의존도가 크므로, I/O operation의 병렬처리는 공간 index structure의 질의반응시간을 현저하게 줄일 수 있다. 본 논문에서는 PPR-tree라는 병렬형 공간 index structure를 제안한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.2
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• pp.542-558
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• 2023

A digital focus index (DFI) is a value used to determine image focus in scientific apparatus and smart devices. Automatic focus (AF) is an iterative and time-consuming procedure; however, its processing time can be reduced using a general processing unit (GPU) and a multi-core processor (MCP). In this study, parallel architectures of a minimax search algorithm (MSA) are applied to two DFIs: range algorithm (RA) and image contrast (CT). The DFIs are based on a histogram; however, the parallel computation of the histogram is conventionally inefficient because of the bank conflict in shared memory. The parallel architectures of RA and CT are constructed using parallel reduction for MSA, which is performed through parallel relative rating of the image pixel pairs and halved the rating in every step. The array size is then decreased to one, and the minimax is determined at the final reduction. Kernels for the architectures are constructed using open source software to make it relatively platform independent. The kernels are tested in a hexa-core PC and an embedded device using Lenna images of various sizes based on the resolutions of industrial cameras. The performance of the kernels for the DFIs was investigated in terms of processing speed and computational acceleration; the maximum acceleration was 32.6× in the best case and the MCP exhibited a higher performance.

• The Transactions of the Korea Information Processing Society
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• v.6 no.5
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• pp.1219-1224
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• 1999

This paper derived Montgomery's parallel algorithms for modular multiplication based on Walter's and Iwamura's method, and compared data dependence graph of each parallel algorithm. Comparing the result, Walter's parallel algorithm has small computational index in data dependence graph, so it is selected and used to computed spatial and temporal pipelining diagrams with each projection direction for designing expansible bit-level systolic array. We also evaluated internal operation of proposed expansible systolic array C++ language.

• Journal of applied mathematics & informatics
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• v.23 no.1_2
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• pp.113-126
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• 2007

Let A and E be $m{\times}n$ matrices and W an $n{\times}m$ matrix, and let $A_{d,w}$ denote the W-weighted Drazin inverse of A. In this paper, a new representation of the W-weighted Drazin inverse of A is given. Some new properties for the W-weighted Drazin inverse $A_{d,w}\;and\;B_{d,w}$ are investigated, where B=A+E. In addition, the Banach-type perturbation theorem for the W-weighted Drazin inverse of A and B are established, and the perturbation bounds for ${\parallel}B_{d,w}{\parallel}\;and\;{\parallel}B_{d,w}-A_{d,w}{\parallel}/{\parallel}A_{d,w}{\parallel}$ are also presented. When A and B are square matrices and W is identity matrix, some known results in the literature related to the Drazin inverse and the group inverse are directly reduced by the results in this paper as special cases.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.299-303
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• 2004

In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.450-465
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• 2021

In this study, an attempt has been made to investigate the water-entry characteristics of the high-speed parallel projectile numerically. The shear stress transport k-𝜔 turbulence model and the Zwart-Gerber-Belamri cavitation model based on the Reynolds-Averaged Navier-Stokes method were used. The grid independent inspection and grid convergence index is carried out and verified. The influences of the parallel water-entry on flow filed characteristics, trajectory stability and drag reduction performance for different values of initial water-entry speed (𝜈₀ = 280 m/s, 340 m/s, 400 m/s) and clearance between the parallel projectiles (L_p = 0.5D, 1.0D, 2.0D, 3.0D) are presented and analyzed in detail. Under the condition of the parallel water-entry, it can be found that due to the intense interference between the parallel projectiles, the distribution of cavity is non-uniform and part of the projectile is exposed to water, resulting in the destruction of the cavity structure and the decline of trajectory stability. In addition, the parallel projectile suffers more severe lateral force that separates the two projectiles. The drag reduction performance is impacted and the velocity attenuation is accelerated as the clearance between the parallel projectiles reduces.

• Proceedings of the Korean Information Science Society Conference
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• 1998.10b
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• pp.114-116
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• 1998

1차원 이상의 공간 데이터의 효율적인 처리는 현대의 멀티미디어 데이터베이스에 있어서 대단히 중요한 역할을 하고 있다. 공간데이터를 관리하는 공간 index structure는 대부분 serial processing을 위한 구조를 가지고 있다. 많은 application에서 방대한 양의 공간 데이터는 보조기억장치(예: disk)에 저장이 되어 사용이 되고 공간 index structure의 query반응시간을 현저하게 줄일 수 있다. 또한 여러개의 disk를 사용하는 병렬처리는 방대한 양의 공간 데이터를 저장하는데 적당하다. 본 논문에서는 PML-tree라는 병렬형 공간 index structure를 제안한다. PML-tree는 MXR-tree에 비해 높은 공간활용도와 빠른 처리시간을 보임으로써 공간 database를 위한 효율적인 index structure로 사용이 될 것으로 기대된다.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1035-1043
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• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.