• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.9
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• pp.538-544
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• 2004

This paper presents the interruption capability of serial-hybrid type GCB (gas circuit breaker) compared with that of puffer type. First a puffer type model interrupter which has the stroke length of 80 mm has been designed and manufactured. And also, a serial-hybrid type interrupter which has the same design parameters as the puffer type interrupter except the serially arranged thermal-expansion chamber and puffer cylinder has been fabricated. Using a simplified synthetic test facility, the critical interruption capabilities of the two GCBs have been estimated. The critical di/dt, the critical dV/dt of ITRV (initial transient recovery voltage) and the minimum arcing time of the puffer type model GCB were 10.7 A/${\mu}\textrm{s}$, 5.5 kV/${\mu}\textrm{s}$, and 15.0 ms respectively. In the case of serial-hybrid type model GCB, each of the values was 16.6A/${\mu}\textrm{s}$, 11.5 kV/${\mu}\textrm{s}$ and 13.0 ms. As a conclusion of this work, it has been quantitatively confirmed that the hybrid type interrupter can obtain the sufficient interruption capability at the operating force which is so low that puffer type interrupter has not the interruption capability.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.84-92
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• 2014

In this paper, a novel 5-axis hybrid-kinematic machine tool is introduced and the research results on accuracy improvement of the prototype machine tool are presented. The 5-axis hybrid machine tool is made up of a 3-DOF parallel manipulator and a 2-DOF serial one connected in series. The machine tool maintains high ratio of stiffness to mass due to the parallel structure and high orientation capability due to the serial-type wrist. In order to acquire high accuracy, the methodology of measuring the output shafts by additional sensors instead of using encoder outputs at the motor shafts is proposed. In the kinematic view point, the hybrid manipulator reduces to a serial one, if the passive joints in the U-P serial chain at the center of the parallel manipulator are directly measured by additional sensors. Using the method of successive screw displacements, the kinematic error model is derived. Since a ball-bar is less expensive than a full position measurement device and sufficiently accurate for calibration, the kinematic calibration method of using a ball-bar is presented. The effectiveness of the calibration method has been verified through the simulations. Finally, the calibration experiment shows that the position accuracy of the prototype machine tool has been improved from 153 to $86{\mu}m$.

• KEPCO Journal on Electric Power and Energy
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• v.2 no.4
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• pp.609-613
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• 2016

A hybrid charging method with serial and parallel architecture has been developed to resolve the unbalanced charge problem among battery cells for Electric Vehicles. In this method, the major charging is performed with serial part and the balancing is carried out with the parallel part, where the serial part is big and heavy but the parallel part is smaller and lighter than serial part. A sensor array to detect the individual battery cell voltage, duty rate control incorporated IGBTs, and battery management system are employed as the core parts of the proposed system.

• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.393-395
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• 2006

We investigated the operational characteristics of the hybrid-type superconducting fault current limiter (SFCL) according to the serial and parallel connections of secondary circuits. The hybrid-type SFCL consists of a transformer, which has a primary winding and several secondary windings with $YBa_2Cu_3O_7$ films connected in series and parallel. In order to increase the capacity of the SFCL, the serial connection between each current limiting unit is necessary. The hybrid-type SFCL with the serial connection in secondary circuits could show superior characteristics than those of the parallel connections in the current limiting and quench time. The resistances generated in the superconducting units were also lowered at the parallel connections. We confirmed that the parallel connection reduced the power burden of each superconducting unit under the same conditions because of the simultaneous quenching between superconducting units.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.925-927
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• 2005

The study is about a finite field multiplying unit, which performs a calculation t-times as fast as the Mastrovito's multiplier architecture, suggesting and using the 2-times faster multiplier architecture. Former studies on finite field multiplication architecture includes the serial multiplication architecture, the array multiplication architecture, and the hybrid finite field multiplication architecture. Mastrovito's serial multiplication architecture has been regarded as the basic architecture for the finite field multiplication, and in order to exploit parallelism, as much resources were expensed to get as much speed in the finite field array multipliers. The array multiplication architecture has weakness in terms of area/performance ratio. In 1999, Parr has proposed the hybrid multipcliation architecture adopting benefits from both architectures. In the hybrid multiplication architecture, the main hardware frame is based on the Mastrovito's serial multiplication architecture with smaller 2-dimensional array multipliers as processing elements, so that its calculation speed is fairly fast costing intermediate resources. However, as the order of the finite field, complex integers instead of prime integers should be used, which means it cannot be used in the high-security applications. In this paper, we propose a different approach to devise a finite field multiplication architecture using Mastrovito's concepts.

• Proceedings of the KIEE Conference
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• 2006.10b
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• pp.208-211
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• 2006

We have analyzed operating characteristics of hybrid-type superconducting fault current limiter (SFCL) according to the parallel connection of secondary windings with $YBa_{2}Cu_{3}O_{7}$ (YBCO) films. The turn ratio between the primary and secondary windings of each reactor was 63:21. Hybrid-type SFCL using a transformer with parallel reactors could reduce the unbalanced quench caused by differences of the critical current density between YBCO films. We found that hybrid-type SFCL having parallel connection induced simultaneous quench between the superconducting elements. The quench-starting point at this time was almost same. When the applied voltage was 200V, the limiting current in the hybrid-type SFCL with a serial connection was lowered to 34 percent than that in the SFCL with a parallel connection. In the meantime, when the voltage generated in the superconducting elements was the same, the current value in the parallel connection was 60 percent less than in the serial connection. The voltage generated in the primary winding also showed the similar behavior. In conclusion, we found that the fault current was limited more effectively in the SFCL with the serial connection but the power burden of the superconducting elements was reduced in the parallel connection.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.3
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• pp.684-691
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• 1996

Since the period of a spreading code in DS/SS communication systems is generally long, it is necessary to make the code acquisition as fast as possible. The code acquisition time can be sued as a measure to evaluate the performance of code acquisition systems. The search rate of serial search codee acquisition system used in the coventional CDMA cellular system is lower than that of the matched filter technique. In order to reduce the code acquisition time, this paper proposes hybrid code acquisition system composed filters combined with serial search blocks. In the proposed system, the matched filter sweeps possible code phases fast and the acquired phase information is verified by the serial search block. The mean and the variance of its acquisition time are calculated and compared with those of double dwell serial search system. The results indicate better performance of the proposed system by yielding its small vaues of the mean and the variance of code acquisition time.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.7
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• pp.362-368
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• 2006

This paper presents the results of a small capacitive current interruption test for the three types of interrupter which are called 'serial type', 'parallel/separated type' and 'puffer type' according to the arrangement of the thermal expansion chamber and the puffer cylinder. After the preconditioning test the small current interruption capability of the 'puffer type' decreased, on the contrary, that of the hybrid interrupters increased. A number of reignition have been occurred in the 'serial type' hybrid interrupter and the change of small current interruption capability after preconditioning test is mainly influenced by the structure of interrupter. Finally it has been proved that the 'parallel/separated type' hybrid interrupter has the best interruption performance through the verification tests.

• Journal of Biosystems Engineering
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• v.31 no.1 s.114
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• pp.52-58
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• 2006

Various robots were developed for harvesting fruits and vegetables. However, each robot was designed for a specific task such as harvesting apples or vegetables. This has been a big hurdle in application of robots to agriculture. A new type of hybrid manipulator with both parallel and serial joints was developed and designed to apply to various kinds of field operations. The hybrid manipulator had 2 extra degree of freedom in serial joints which made it flexible in switching one to the other type of hybrid manipulator, for example, PUMA to SCARA. And it was designed to harvest heavy fruits such as musky melons or water melons even behind leaves or branches of tree. This hybrid manipulator showed less than $\pm1mm$ position error. It was concluded that the hybrid manipulator was an effective and feasible tool to perform various works and to increase working performance.