• 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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권4호
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• pp.1679-1691
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• 2016

Successive interference cancellation (SIC) is an effective means of multi-packet reception to combat interference at the physical layer. We investigate the joint optimization issue of channel access and power control for capacity maximization in SIC-enabled wireless networks. We propose a new interference model to characterize the sequential detection nature of SIC. Afterward, we formulize the joint optimization problem, prove it to be a nondeterministic polynomial-time-hard problem, and propose a novel approximation approach based on the genetic algorithm (GA). Finally, we discuss the design and parameter setting of the GA approach and validate its performance through extensive simulations.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
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• pp.296-301
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• 1998

In this experiments of design, vibration evaluation, and test of vehicles, aircraft, and other mechanisms the development of vibration simulator that serves environment similar to real fields takes lots of advantages. Especially, in the real field test of vehicles it possesses the advantages of showing the dynamic characteristics of the vehicle. In this study, to investigate the validity and fitness of proposed 6DOF parallel link mechanism we simulated that mechanism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.672-675
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• 2000

There are many sources of errors in the parallel device. This study investigates the effect of a clearance error at a U-joint on the position and orientation errors of the platform of a new parallel device, cubic parallel manipulator. In this study, the limits of errors can be estimated for given conditions.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.789-794
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• 2000

This study proposes an error analysis for a cubic parallel device. There are many sources of errors in the device. An error analysis is presented based on an error model formed from the relation between the universal joint error of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in evaluating the accuracy of a parallel device.

• 대한전자공학회논문지TC
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• 제42권11호
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• pp.87-92
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• 2005

본 논문에서는 불완전 전력 제어 방식과 주파수 선택적 레일리 페이딩 채널에서 DS-CDMA 시스템을 위한 역방향링크 동기식 전송 방식(Reverse-Link Synchronous Transmission Technique: RLSTT)이 채용된 개선된 다단계 병렬식 간섭 제거기(Parallel Interference Cancellation: PIC)에 대한 성능을 분석한다. 로그 노말 분포의 랜덤 변수로 근사화되는 전력 제어 오차(Power Control Error: PCE)에 의한 성능 열화가 PCE의 표준 편차의 함수로 추정된다. 시스템 수용 용량을 추정하기 위하여 비부호화된 비트 오류 성능을 계산한다. 기존의 단일단계 간섭제거기 시스템과 비교하여 전력 제어 오차가 존재하는 경우에서도 RLSTT를 채용함으로 $60\%$ 정도의 이득을 얻을 수 있음을 보여준다. 즉 결론적으로 RLSTT는 수용용량을 더욱 개선해줄 수 있으며 PCE의 악영향을 감소시켜줄 수 있다.

• 전력전자학회논문지
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• 제2권2호
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• pp.8-18
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• 1997

본 논문에서는 개선된 PWM 적용성, 저손실 특성 및 낮은 전압 스트레스를 가지는 새로운 저손실 준 병렬공진 직류-링크 인버터를 제안한다. 직류-링크 동작손실을 대폭 감소시킴은 물론 넓은 동작범위에 걸쳐 안정한 소프트 스위칭을 보장하기 위하여 프리휠링 구간을 최소화시키는 방법을 또한 제안한다. 게다가 직류-링크의 영전압 구간의 무손실 제어에 의하여 낮은 변조지수 동작에 있어서도 제안된 인버터는 개선된 PWM 적용성을 보인다. 제안된 인버더 토폴로지의 유용성을 확인하기 위하여 실험 및 시뮬레이션을 행하였다.

• 대한기계학회논문집A
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• 제20권1호
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• pp.35-43
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• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.309-311
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• 1996

In this paper, we propose two types of novel discrete time current control methods of modified fixed band hysteresis control and optimal control for Parallel Resonant DC Link Inverters(PRDCLI). Because zero bus voltage intervals are generated on the DC link of PRDCLI, we can obtain the information of counter electromotive force(emf) by a simple estimation strategy. The proposed current controllers predict the currents of the next resonant cycle using the obstained information of counter emf and the average values of DC link voltages. The computer simulation results for a simple equivalent circuit of induction motor show that the proposed control methods are more effective than conventional methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.631-637
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• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.