• Journal of the Korean Society of Mechanical Technology
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• v.13 no.1
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• pp.89-94
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• 2011

The swivel joint is an important part in hydraulic machine. The analysis on the material was made using the EDAX method to localize the swivel joint. Also, the modeling and design drawing were finalized with application of 3 dimensional measurement and structure analysis. The prototype product based on design drawing was made with cutting and grinding process. No abnormalities were found in the prototype product through the durability test and measurement. The localized swivel joint with light weight, price reduction and diversification was developed in this study.

• Journal of the Korean Society for Railway
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• v.9 no.3 s.34
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• pp.277-281
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• 2006

The center pivot in the power car of KTX carries the traction force of the motor bogie to the carbody. The damage to the center pivot due to failure of swivel joint causes a serious hazard of the train. To prevent the hazard, information on the relative motion between bogie and carbody is necessary. In this paper, a method to measure the relative rotation of the center pivot is proposed and an actual test to verify the method and safety is conducted. The test results show that the rotation of the center pivot is within the allowable limit and the damage due to the relative motion doesn't take place.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.89-97
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• 2001

In this paper, we present a new two-dof anthropomorphic joint mechanism that enables to mimic the humanlike motion. The proposed mechanism, called Double Active Universal Joint(DAUJ), generates a two-dof swivel motion without rolling by the coupled motion of two independent motor. In addition, we perform basic experiments to confirm the effectiveness of the proposed mechanism and the results are reported.

• Journal of the Korean Institute of Gas
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• v.18 no.4
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• pp.51-55
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• 2014

This paper was analyzed for a sealing characteristics of single lip contact type o-ring and multiple lip contact type packing for a swivel joint using the finite element method. According to the FE analysis, a conventional o-ring produces a maximum contact normal stress of 2.5MPa for a supplied LP gas pressure of 1.8MPa, which is related to the sealing performance. But, a sealing performance of newly invented multi-lip packing produces a maximum contact normal stress of 3.01MPa, which is 20.4% higher than that of a conventional o-ring. And an extrusion of a conventional o-ring, which is strongly related to the sealing endurance safety, was occurred at a supplied gas pressure of 1.62MPa. But, a multi-lip packing does not produce up to the gas pressure of 1.8MPa. This means that a new type of multi-lip packing may have excellent sealing characteristics because of no extrusion for high gas pressure. Thus, multi-lip packing with multiple lip contacts may be useful for high sealing and endurance safety compared to that of the conventional o-ring with a single lip contact.

• Journal of The Korean Institute of Defense Technology
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• v.5 no.3
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• pp.8-17
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• 2023

The current weapon system is operated as a complex weapon system with various standards and protocols applied, so there is a risk of failure in smooth information exchange during combined and joint operations on the battlefield. The interoperability of weapon systems to carry out precise strikes on key targets through rapid situational judgment between weapon systems is a key element in the conduct of war. Since the Korean military went into service, there has been a need to change the configuration and improve performance of a large number of software and hardware, but there is no verification system for the impact on interoperability, and there are no related test tools and facilities. In addition, during combined and joint training, errors frequently occur during use after arbitrarily changing the detailed operation method and software of the weapon/power support system. Therefore, periodic verification of interoperability between weapon systems is necessary. To solve this problem, rather than having people schedule an evaluation period and conduct the evaluation once, AI should continuously evaluate the interoperability between weapons and power support systems 24 hours a day to advance warfighting capabilities. To solve these problems, To this end, preliminary research was conducted to improve defense interoperability capabilities by applying natural language processing techniques (①Word2Vec model, ②FastText model, ③Swivel model) (using published algorithms and source code). Based on the results of this experiment, we would like to present a methodology (automated evaluation of interoperability requirements evaluation / level measurement through natural language processing model) to implement an automated defense interoperability evaluation tool without relying on humans.