• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• 전기의세계
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• v.25 no.1
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• pp.95-100
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• 1976

The main purpose of this paper is to study on the transient current due to the change of environmental temperature under no external field in the arrangement of M$_{1}$(metal)-P(polyver)-M$_{2}$(metal). The specimer of polymeric insulator sandwiched by two metal electrodes composes a parallel-plate condenser represented by Maxwell-model. The behaviors of short circuit current flowing in M-P-M arrangement are very complex and the analysis of its conduction mechanism appears to be much complicated. In this paper we can suggest that a contact potential difference as an energetic state exists in the thin film specimen both sides of which are contacted by two different metals having different cook functions. Futhermore the contact potential difference appears to be constant through the course of temperature change, however, the dielectric constant and caparitance of the specimen must be temperature dependent. Accordingly the charge difference induced on both sides of electrodes may be a cause for the shory circuited transient current flowing through the external circuit. It is also suggestive that the results of the observation must be considered in cases of insulation design of electrical machines and D.C. cable for high voltage use.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.12
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• pp.705-712
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• 2003

In this paper, we propose new unified methodologies of reliability and its cost evaluation in power distribution systems. The unified method means that the proposed reliability approaches consider both conventional evaluation factor, i.e. sustained interruptions and additional ones, i.e. momentary interruptions and voltage sags. Because the three voltage quality phenomena generally originate from the outages on distribution systems, the basic and additional reliability indices are summarized considering the fault clearing mechanism. The proposed unified method is divided into the reliability evaluation for calculating the reliability indices and reliability cost evaluation for assessing the damage of customer. The analytic and probabilistic methodologies are presented for each unified reliability and its cost evaluation. The time sequential Monte Carlo technique is used for the probabilistic method. The proposed DVL(Demand Varying Load) model is added to the reliability cost evaluation substituting the average load model. The proposed methods are tested using the modified RBTS(Roy Billinton Test System) form and historical reliability data of KEPCO(Korea Electric Power Corporation) system. The daily load profile of the each customer type in domestic are gathered for the DVL model. Through the case studies, it is verified that the proposed methods can be effectively applied to the distribution systems for more detail reliability assessment than conventional approaches.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.05a
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• pp.41-45
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• 2000

As LDPE, widely used as a insulating material of power cable, has defects of treeing and space charge accumulation, various methods to improve them have been suggested. It is difficult to understand the mechanism of electrical conduction according to the complexity of molecular structure and the changes of super-structure due to various environmental parameters. Therfore in this paper, four kinds of heat-treated LDPEs(origin, slow cooled, water cooled, quenched in $LN_2$) were used as specimens to help us understand the mechanisms and space charge distributions were investigated at 60[min] just after applying the field of 1[MV/cm] and 10[min] just after short-circuiting, using LIPP method.

• Advances in Computational Design
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• v.7 no.3
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• pp.189-210
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• 2022

Deployable structures have the ability to shift from a compact state to an expanded functional configuration. By extension, reconfigurability is another function that relies on embedded computation and actuators. Linkage-based mechanisms constitute promising systems in the development of deployable and reconfigurable structures with high flexibility and controllability. The present paper investigates the deployment and reconfigurability of modular linkage structures with a pin and a sliding support, the latter connected to a linear motion actuator. An appropriate control sequence consists of stepwise reconfigurations that involve the selective releasing of one intermediate joint in each closed-loop linkage, effectively reducing it to a 1-DOF "effective crank-slider" mechanism. This approach enables low self-weight and reduced energy consumption. A kinematics and finite-element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems' behavior.

• Journal of the Korean GEO-environmental Society
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• v.13 no.1
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• pp.53-61
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• 2012

In this study, the research on MC anchor has been developed as composite type has done. MC anchor exerts bearing pressure on pre-bored hole where the end fixing device is expanded. Therefore, the uplift capacity is to be increased and it has the characteristics that the anchor body is not eliminated from the ground even if the grouting is not carried out properly. Furthermore, it reduces the loss of tension and raises the construction availability by inserting the reinforced bar as well as the anchor cable, while it can improve the long-term stability because the nail is expected to play the role when the loss of the anchor cable is occurred in a long-term. However, because the resistance mechanism of the compound anchor such as MC anchor is different from friction anchor, the estimation method of the uplift capacity by the frictional force of the ground and the grout is not proper. Particularly, in domestic cases, the problem to overestimate or underestimate the uplift capacity is expected because the design method considering the soil characteristics about the compound anchor has not been developed. Therefore, in this study, in order to evaluate the characteristics of MC anchor and a kind of compound anchor, we measured the uplift, the tension and the creep by nine anchors tests in shale ground that the fluctuation of the strength is great. In addition, we analyzed the test result comparing to the result of the general friction anchor and evaluated the characteristics of MC anchor movement to gather the results. As a result of the test, we found the effect that the uplift capacity is increased in shale ground comparing to the general friction anchor.

• Journal of Korean Society of Forest Science
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• v.108 no.4
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• pp.562-573
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• 2019

In a cable yarding system, a small-scale tower yarder attached to a farm tractor wasdeveloped and used for small-diameter tree harvesting operations. Based on this design, improvement of traction performance was required for medium- and large-diameter tree harvesting operations. In this study, the mechanical transmission employed for the tower yarder was modified into ahydro-mechanical transmission system. Maximum traction forces, including tractor engine speed and hydraulic power pressure, were investigated, and comparisons were made between the mechanical and hydro-mechanical transmission systems. Six tractor engine speeds (1,200, 1,400, 1,600, 1,800, 2,000, and 2,200) and three levels of power transmission mechanism pressure (4.9, 6.9, and 8.8 MPa) were investigated in the two different transmission systems. Results showed a maximum traction force of 15,146.6 N at an engine rotation speed of 757 rpm in the current mechanical transmission system, and 36,140.0 N at anengine rotation speed of 1,575 rpm in the modified hydro-mechanical transmission system. The maximum traction forces for the hydro-mechanical transmission were 2.4 times greater than those of the mechanical transmission, and may therefore be applicable to medium and large-diameter tree harvesting operations. Thus,as a modified version of the conventional transmission system, the new hydro-mechanical transmission system may be cost-effective for use in large-scale cable yarding operations. In the future, however, it will be necessary to investigate problems that may arise from field application tests.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.5
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• pp.483-490
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• 1999

In this paper, the cost-effective design of output reactor which is USCD to suppress the over-voltage at the m motor terminal in the Adjustable Speed Drives(ASD) application is proposed. In the elevator drive svstem. the R IXlwer cable length is relatively shorter than other ASD applications and then the over voltage at the motor terminal depends on the frequency characteristics of the output reactor at the over voltage operating frequency. The over-voltage suppression mechanism of output reactor in ASD application is analyzed and the dominant parameters of output reactor for the over-voltage supression are extracted. Using these as the design values and considering the high frequency characteristics of iron core in the reactor. a new c cost-effective structure of output reactor is proposed. Experimental results of the conventional reactor and the p proposed reactor with a l5kW induction motor are given to verify the propoSLD scheme.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.2 s.308
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• pp.28-32
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• 2006

In this paper, NTSC TV Transmitter Modulo will be designed and produced which make possible playing the motion picture not only on TV but also on portable TV. NTSC TV Transmitter Module modulates signals that received Video and Audio signals from a mobile on NTSC TV CH4 mechanism. so it has an advantage of convenience that watching the motion picture of mobile on TV without any other cable through transmitting signals by wireless. But it has some demerits of long size antenna and noise sensitiveness. In the future, if some problems like a size of antenna distortion of signal and noise can be solved through continuous researching about Radio Frequency part, it is possible to play mobile motion pictures on the more media like a camcorder, DVD player and so on.

• Journal of Broadcast Engineering
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• v.16 no.6
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• pp.951-961
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• 2011

This paper proposes a signaling and multiplexing mechanism in service-compatible 3DTV broadcasting for guaranteeing backward-compatibility with legacy DTV. Recently, 3DTV experimental broadcasting services are being developed around advanced countries and the standardization of service-compatible 3DTV broadcasting which is able to provide high-quality stereoscopic videos in progress. Based on experimental results, we confirm that proposed method can be used as a common technology and a reference model for stereoscopic video transmission over terrestial, satellite and cable DTV platforms in 3DTV broadcasting service and system development.