• 한국정밀공학회지
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• 제14권5호
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• pp.134-142
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• 1997

In this study, we proposed the wire parallel mechanism that can be used to measure a full pose of a robot. It is composed of six parallel links using wire. The position and orientation of the end effectorf of a robot are calculated using the length of wires which is measured by the encoder. The complex non- linear equations of the forward kinematics are solved by using a numerical method, and the unique solution is obtained from the geometric configuration of the device. The length error of the wire which occurs in static condition is compensated by the relational equation that considered longitudinal extension and defoection of the wire. Through this work, we known that the proposed device has a good accuracy( .+-. 0.01mm) in a large measuring region, so it can be used effectively in a callibration of a robot which required a low cost.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1598-1602
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• 2003

The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2001년도 The Seoul International Simulation Conference
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• pp.440-443
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• 2001

As inter-network traffics grows rapidly, the router systems as a network component becomes to be capable of not only wire-speed packet processing but also plentiful programmability for quality services. A network processor technology is widely used to achieve such capabilities in the high-end router. Although providing two such capabilities, the network processor can't support a deep packet processing at nominal wire-speed. Considering QoS may result in performance degradation of processing packet. In order to achieve foster processing, one chipset of network processor is occasionally not enough. Using more than one urges to consider a problem that is, for instance, an out-of-order delivery of packets. This problem can be serious in some applications such as voice over IP and video services, which assume that packets arrive in order. It is required to develop an effective packet processing mechanism leer using more than one network processors in parallel in one linecard unit of the router system. Simulation analysis is also needed for verifying the mechanism. We propose the packet processing mechanism consisting of more than two NPs in parallel. In this mechanism, we use a load-balancing algorithm that distributes the packet traffic load evenly and keeps the sequence, and then verify the algorithm with simulation analysis. As a simulation tool, we use DEVSim++, which is a DEVS formalism-based hierarchical discrete-event simulation environment developed by KAIST. In this paper, we are going to show not only applicability of the DEVS formalism to hardware modeling and simulation but also predictability of performance of the load balancer when implemented with FPGA.

• 한국정밀공학회지
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• 제15권7호
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• pp.52-60
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• 1998

In optical disc system, 4-wire actuator has undesired tilt which degenerates the performance of RF signal. This tilt occurs from moment around the axis parallel to the tangential direction of the disk. The main reason of the moment is the coupling effect between focus driving system and tracking driving system. This paper constructed tilt mechanism and analyzed tilt quantity due to the moment based on structural analysis and magnetic field analysis. And the experiment about tilt was executed. The results were compared and discussed about the difference. Then, the design method for reducing tilt angle was suggested.

• 한국분말재료학회지
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• 제11권2호
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• pp.105-110
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• 2004

In this study the possibility to obtain a homogeneous mixture and to produce solid solutions and intermetallic compounds of Fe and Al nano particles by simultaneous pulsed wire evaporation (S-PWE) have been investigated. The Fe and Al wires with 0.45 mm in diameter and 35 mm in length were continuously co-fed by a special mechanism to the explosion chamber and simultaneously exploded. The characteristics, e.g., phase composition, particle shape, and specific surface area of Fe-Al nano powders have been analyzed. The synthesized powders, beside for Al and $\alpha$-Fe, contain significant amount of a high-temperature phase of $\gamma$-Fe, Fe Al and traces of other intermetallics. The phase composition of powders could be changed over broad limits by varying initial explosion conditions, e.g. wire distance, input energy, for parallel wires of different metals. The yield of the nano powder is as large as 40 wt ％ and the powder may include up to 46 wt % FeAl as an intermetallic compound.

• 한국정밀공학회지
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• 제15권4호
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• pp.7-14
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• 1998

Noncircular gears have been used for obtaining the modified anglualr velocity ratio between parallel axes. The elliptical gear, which is a kind of noncircular gears, makes use of ellipse as a pitch curve, and is applied for the measurement of the discharge of liquid. The applications of an elliptical gear are more advantageous than any other mechanism as like a crank-slider linkage or a cam mechanism in view of the accuracy and the reliability to transmit the prescribed motion. In this paper, acceding to the theoretical involute tooth profile, two pairs of the elliptical gears were manufactured by using CNC wire electronic discharge machine. The proper ranges of the operating pressure angle and of module not to generate under cutting are studied on the change of the eccentricity, because it is the eccentricity of the pitch curve that determines most of the characteristics of the elliptical gear and then the vibration analysis is executed for the verification of harmonious rotating.

• Journal of electromagnetic engineering and science
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• 제11권3호
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• pp.166-173
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• 2011

In this paper, we implemented and analyzed a wireless power transfer (WPT) system with a CSPR topology. CSPR refers to constant current source, series resonance circuit topology of a transmitting coil, parallel resonance circuit topology of a receiving coil, and pure resistive loading. The transmitting coil is coupled by a magnetic field to the receiving coil without wire. Although the electromotive force (emf) is small (about 4.5V), the voltage on load resistor is 148V, because a parallel resonance scheme was adopted for the receiving coil. The implemented WPT system is designed to be able to transfer up to 1 kW power and can operate a LED TV. Before the implementation, the EMF reduction mechanism based on the use of ferrite and a metal shield box was confirmed by an EM simulation and we found that the EMF can be suppressed dramatically by using this shield. The operating frequency of the implemented WPT system is 30.7kHz and the air gap between two coils is 150mm. The power transferred to the load resistor is 147W and the real power transfer efficiency is 66.4 %.