• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.26-33
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• 2017

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.225-231
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• 2000

Dimensional synthesis of planar and spatial mechanisms mostly requires solution-finding, procedure for a system of polynomial equations. In case the system is nonlinear, numerical techniques like Newton-Raphson are often used. But there are no logical ways for finding all possible solutions in such iterative methods. In this paper, algebraic elimination is used to get all solutions for the synthesis of 5-SS spatial mechanism with seven prescribed positions. The proposed algorithm is more suitable for computer implementation and takes less time than existing one. Two numerical examples are given to demonstrate the implemented algorithm.

• Journal of Korea Society of Industrial Information Systems
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• v.14 no.4
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• pp.16-29
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• 2009

This paper investigates the kinematic and dynamic analysis of a spherical three degree of freedom parallel joint module, which is used in the exercise equipment for balance and leg-strength improvement of aged people. The joint module has three dyads which consist of two links and three revolute joints, and their all joints intersect at the global point located at the module's center. The paper shows the explicit mathematical procedure for deriving the closed form solutions in the inverse and forward position analysis of this parallel joint module. In velocity and acceleration analysis, we derived relations for joint velocities and accelerations of dyads and rotational velocity and acceleration of the top plate. For applying this module to rehabilitation exercise, we determined the dynamic model of the Korean males in their 50s and examined the model's results by dynamic model simulation.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.163-170
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• 2001

In this paper, a massless link model transmitting external forces is developed to achieve the numerical efficiency in simulation of vehicle suspension systems. Forces acting on links are resolved and transmitted to attached points with a quasi-static assumption. Also, a theoretical derivation and computer implementation of a massless link with bushing elements are proposed. In the massless link with bushing elements, one end is connected to the adjacent body with bushings and the other end is connected with a spherical joint. The deformation of a massless link with bushing elements is theoretically determined by minimizing the potential energy function with quasi-static equilibrium assumption at each time step. Several simulations with a full vehicle model are carried out to compare the efficiency of the developed massless link component. From the results, it is concluded that the proposed approach can reduce the computational time considerably.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.635-640
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• 2000

This paper presents the analysis method of the instantaneous screw axis using line geometry in bump and rebound motion of 5-SS multi-link suspensions. Instantaneous screw axis is based on screw motion, and screw motion of zero pitch can be expressed as $Pl{\ddot{u}}cker$ line coordinates of line geometry instead of screw coordinates. In screw coordinates, twist and wrench are described by components of instantaneous screw axis. For instantaneous motion of wheel assembly, the principle of virtual work with twist and wrench is applied to 5-SS multi-link suspension, and it makes 5 linear equations. Therefore, it is possible to find instantaneous screw axis by solving these equations. This analysis by line geometry demands geometric values only, such as the locations of spherical joints in the case of multi-link suspensions.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.3
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• pp.254-260
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• 2011

Telemetry link is dynamic communication link that antenna gain and polarization are varying with the movement of the airplane. In this paper we calculated the antenna gain, polarization mismatch using the flight trajectory, motion of the airplane and 3D antenna pattern. And we modeled the multipath environment to the 2-Ray spherical earth reflection geometry, estimated the received signal strength when the narrow beam antenna received the RF signal transmitted from the airplane. Also we performed the flight test and after comparing measured value with the estimated value, we confirmed to almost coincide with each other.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.5
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• pp.37-43
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• 2012

The closed-loop multiple-input multiple-output (MIMO) system has been adopted by long term evolution (LTE) system. Many techniques are proposed to enhance the transmission of LTE's advanced version to meet the increasing requirement, in which differential codebook gains a lot of interest. Previous researches on designing differential codebooks focused on quasi-diagonal unitary matrix which cannot guarantee the equal gain property. The equal gain property is very important to uplink because the performance of uplink is very sensitive to the peak-to-average power ratio (PAPR). In this paper, we derive the analytical expression of average bit error rate and PAPR for differential precoding MIMO system. Using the analytical results, we investigate the performances of several differential precoding schemes considering non-linear amplifier at the transmitter. Some selected simulation results indicate that the conventional differential precoding schemes have good performances without the consideration of non-linear amplifier. While considering non-linear amplifier, the proposed differential codebook outperforms other differential precoding schemes because it maintains the equal gain per transmit antenna.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.10
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• pp.1-6
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• 2011

In this paper, the sum-rate and BER performances of MU-MIMO system employing quantized differential feedback technique are analyzed over temporrally correlated channels. Several differential codebooks are assumed in the analysis such as quasi-diagonal codebook, spherical cap codebook, and differential equal gain codebook. The simulation results indicates that the system employing quantized differential feedback technique provides significant performance improvement. The performance improved 0.6bps/Hz at least in terms of sum-rate, and 4dB power gain is provided in terms of average BER.

• Journal of Satellite, Information and Communications
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• v.7 no.1
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• pp.97-101
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• 2012

The TC&R(Telemetry, Command & Ranging) antennas should have the hemispherical omni antenna patterns to make sure that the communication link between the satellite and the ground station can be established under whatever satellite attitude during after launch to on-orbit mission. The hemispherical omni-antennas are typically placed on the +z axis and -z axis of the satellite to provide the spherical omni patterns. The S-band qaudrifilar helix antennas having RHCP and LHCP hemispherical omni pattern are designed to meet the antenna gain and the axial ratio requirements. To investigate the omni-antenna pattern characteristics depending on four cases of antenna polarization combination placed on the +z axis and -z axis, the antenna pattern of each case is analyzed. Based on the result, after installing the designed RHCP and LHCP S-band omni-antennas on the +z axis and -z axis of the satellite, the combined antenna gain is obtained and finally analyzed in conjunction with the communication link influence.