• Smart Structures and Systems
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• v.13 no.4
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• pp.711-730
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• 2014

In this paper the system dynamic influences in actuators with variable stiffness as contemporary used in robotics for safety and efficiency reasons are investigated. Therefore, different configurations of serial and parallel elasticities are modeled by dynamic equations and linearized transfer functions. The latter ones are used to identify the characteristic behavior of the different systems and to study the effect of the different elasticities. As such actuation concepts are often used to reach energy-efficient operation, a power consumption analysis of the configurations is performed. From the comparison of this with the system dynamics, strategies to select and control stiffness are derived. Those are based on matching the natural frequencies or antiresonance modes of the actuation system to the frequency of the trajectory. Results show that exclusive serial and parallel elasticity can minimize power consumption when tuning the system to the natural frequencies. Antiresonance modes are an additional possibility for stiffness control in the series elastic setup. Configurations combining both types of elasticities do not provide further advantages regarding power reduction but an input parallel elasticity might enable for more versatile stiffness selection. Yet, design and control effort increase in such solutions. Topologies incorporating output parallel elasticity showed not to be beneficial in the chosen example but might do so in specific applications.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.2
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• pp.251-254
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• 2014

In this paper, we studied a technique of extracting a Frequency Hopping(FH) signal for analysis using high-speed parallel processing structure. Unlike fixed frequency signal, FH signal is difficult to detect and analyze because FH systems use many random frequencies instead of a single carrier frequency. To solve this problem we designed a method that analyze FH signal using high-speed parallel processing. In order to apply parallel processing, we use CUDA using GPU and compare single processing with prarallel processing. As a result, using CUDA on a GPU is about 8.53 times faster than single processing.

• Journal of Communications and Networks
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• v.9 no.3
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• pp.330-341
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• 2007

This work analyzes the performance of the parallel packet switch (PPS) with a sliding window (SW) method. The PPS involves numerous packet switches that operate independently and in parallel. The conventional PPS dispatch algorithm adopts a round robin (RR) method. The class of PPS is characterized by deployment of parallel low-speed switches whose all memory buffers run more slowly than the external line rate. In this work, a novel SW packet switching method for PPS, called SW-PPS, is proposed. The SW-PPS employs memory space more effectively than the existing PPS using RR algorithm. Under identical Bernoulli and bursty data traffic, the SW-PPS provided significantly improved performance when compared to PPS with RR method. Moreover, this investigation presents a novel mathematical analytical model to evaluate the performance of the PPS using RR and SW method. Under various operating conditions, our proposed model and analysis successfully exhibit these performance characteristics including throughput, cell delay, and cell drop rate.

• Journal of Engineering Education Research
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• v.26 no.3
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• pp.35-41
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• 2023

The study was conducted to develop two parallel short forms for the Convergent thinking and Problem solving questionnaires which are part of H University's core competency diagnostic tools, based on Multi-Item Response Theory. Item responses of 2,580 students were analyzed using Graded Response Model(GRM) to determine item difficulty and discrimination of each item. The research results are as follows. Two parrallel short tests were developed for the Convergent thinking questionnaire consisting of 12 items which were originally 17 items. Likewise, the Problem solving questionnaire, which originally consisted of 15 questions, was divided into two parallel short forms, each consisting of 9 items. The reliability of the shortened parallel tests was confirmed through internal consistency analysis, and their similarity to the original tests was established through correlation analysis. This study contributed to quality management of competency-based education and programs at H University by developing shortened tests. Based on the results, implications were presented as well as limitations and discussions.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.5
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• pp.174-182
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• 2004

Consideration for parallel operation in a high power system has been increased due to the advantages of parallel operation like as high productivity, simplicity of design, and redundancy of power. Based on the small signal model of DC-DC Converter, the simple and exact power stage model of parallel operation system is derived and the parallel operation system using current balance method for the uniform current distribution among the parallel operation system is proposed. Using Simulation programs, which consists of nonidentical Converter modules and changes the position of master and slave automatically, the current distribution error is kept within the limit in the parallel operation system. To verify the high performance of the proposed Converter system for parallel operation, the parallel operation test, which has 2 Converter modules of 1 kW, is accomplished. Also, the simulation result is good agreement with the experiment result in the transient and starting characteristics.

• The Transactions of the Korea Information Processing Society
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• v.6 no.4
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• pp.901-915
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• 1999

Parallel computers are known to be excellent in performance per cost also satisfying scalability and high performance. However parallel machines have enjoyed limited success because of difficulty in parallel programming and non-portability between parallel machines. Recently, researchers have sought to develop data parallel language that provides machine independent programming systems. Data parallel language such as High Performance Fortran provides a basis to write a parallel program based on a global name space by partitioning data and computation, generating message-passing function. In this paper, we describe the Parallel Programming Translator(PPTran), source-to-source data parallel compiler, generating MPI SPMD parallel program from HPF input program through four phases such as data dependence analysis, partitioning data, partitioning computation, and code generation with explicit message-passing and verify the performance of PPTran

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.725-730
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• 2004

This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.

• Journal of computational fluids engineering
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• v.17 no.4
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• pp.1-8
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• 2012

During a reactor normal operation, two parallel 50% capacity cooling pumps circulate primary coolant to remove the fission reaction heat of the reactor through heat exchangers cold by a cooling tower. When one pump is failure, the other pump shall continuously circulate the coolant to remove the residual heat generated by the fuels loaded in the reactor after reactor shutdown. It is necessary to estimate how much flow rate will be supplied to remove the residual heat. We carried out a flow network analysis for the parallel primary pumps based on the piping network of the primary cooling system in HANARO. As result, it is estimated that the flow rate of one pump increased about 1.33 times the rated flow of one pump and was maintained within the limit of the cavitation critical flow.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1353-1360
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• 2012

The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.