• Tribology and Lubricants
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• 제38권1호
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• pp.27-31
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• 2022

Harmonic drives have attracted increasing attention with the development of materials, parts, and related equipment. Harmonic drives exhibit high deceleration, high accuracy, and light weight. The stiffness of flexible splines according to the radial load is studied using a commercial FEM program to design the structure of the flexible spline and finite element to improve the weight and price competitiveness of harmonic drives. In addition, several studies have measured and compared friction coefficients based on 3D printed tread patterns. However, owing to the characteristics of plastic materials, a decrease in stiffness in the radial direction is inevitable. To prevent a decrease in stiffness in the radial direction, we designed and manufactured flex splines with a wrinkle shape. Through structural analysis, the reaction force and stiffness in the radial direction were determined. In addition, the maximum angle of the mound was derived by theoretical calculations, and the performance of the harmonic drive was compared with the results obtained in the mound experiment. Structural analysis shows that the shape of wrinkles decreased the stress and reaction force and increased the safety factor in comparison with that of the circular shape. During performance verification through continuous experiments, the developed harmonic drive showed continuous performance similar to that of an actual tank model. It is expected that the flex spline with a compliant spring and wrinkle shape will prevent a decrease in the radial stiffness.

• 한국항행학회논문지
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• 제27권4호
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• pp.429-435
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• 2023

항공전자 시스템의 복잡성이 높아짐에 따라 소프트웨어 컴포넌트의 이식성 및 재사용성이 강조되었다. 본 논문에서는 ARINC 653 요구사항을 만족하는 VxWorks 653 운용 환경에서 FACE(The Future Airborne Capability Environment)표준에 적합한 IOSS(Input Output Service Segment) 및 TSS(Transport Service Segment)에 대한 구조 설계 방안을 설명한다. IOSS 및 TSS는 각각 다른 파티션에서 독립적으로 동작하게 하여 시/공간 분리 및 다른 소프트웨어의 영향성을 최소화 하였고, 이식성 및 재사용성을 높이기 위해 디자인 패턴 중 전략 패턴을 적용하였다. 또한, IOSS는 Distributed IO Service 구조를 적용하여 외부 인터페이스 서비스를 제공하고, 외부 인터페이스 중 FACE를 적용한 장비의 ARINC 664 P7 인터페이스는 TSS에 배치하여 데이터 이동 경로를 최적화 하였다.

• 대한의용생체공학회:의공학회지
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• 제21권4호
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• pp.391-401
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• 2000

본 연구에서는 정맥 등과 같은 혈관의 상황을 모사하기 위하여 선형적으로 벽 두께가 변하는 축 대칭 관의 벽면과 유동의 상호작용을 유한요소 방법으로 해석하였다. 사용한 유한요소 상용 소프트웨어(ADINA)의 타당성을 검증하기 위해서 막힘이 있는 혈관에서의 벽과 혈류의 상호작용을 해석하고 이를 기존의 실험결과와 비교하였다. 또한 2차원 신축 벽을 가지는 평판 사이의 유체 유동에 대한 결과를 기존 연구결과와 비교하였다. 축대칭 문제의 경우, 입구의 압력은 일정하게 유지하면서 출구 압력을 감소시켜 나간다. 출구 압력의 감소에 따라, 유량은 증가하며, 관내 유로의 단면적은 감소한다. speed index(평균속도를 파의 속도로 나눈 값)가 1 근방에서 유량은 최대가 되며, 유로 단면적이 최소가 된다. 그리고 출구압력이 좀 더 감소하면 유량은 오히려 줄어든다. 이와 같은 현상을 유동제한(flow limitation) 혹은 초킹(choking)이라 하는데, 폐의 기도(airway) 및 모세혈관, 그리고 이외의 여러 정맥들에서 자주 발생하는 폭포효과의 원인이 된다. 상류벽 두께와 하류 벽두께의 비가 2 일 경우에는 하류쪽에서 목(area throat)이 형성되며 이 비가 3일 경우에는 상류 쪽으로 이동하는데 하류 벽면의 강성(stiffness)이 상류 쪽에 비해 강하게 되어서 상류 쪽에서 먼저 붕괴가 일어나기 때문이다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.917-920
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• 2005

This paper presents 3D graphics geometry processor for mobile applications. Geometry stage needs to cope with the large amount of computation. Geometry stage consists of transformation process and lighting process. To deal with computation in geometry stage, the vector processor that is based on pipeline chaining is proposed. The performance of proposed 3D graphics geometry processor is up to 4.3M vertex/sec at 100 MHz. Also, the designed processor is compliant with OpenGL ES that is widely used for standard API of embedded system. The proposed structure can be efficiently used in 3D graphics accelerator for mobile applications.

• 대한기계학회논문집A
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• 제32권7호
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• pp.541-548
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• 2008

To improve the operational stability of the 100 Watts class Micro Gas Turbine, the air foil bearing with additional damping material has been investigated. The key of structure is that a viscoelastic material is coated under the top foil. The compliant foil journal bearing and thrust bearing are designed to withstand high load of vibrations at the operational speed 870,000 rpm. Test is executed in room temperature. Rotor has stably operated above 480,000 rpm. It is over 55% of the designed speed 870,000 rpm. Synchronous and subsynchronous vibrations are both well controlled. Vibration amplitude diminished over 50%. With the help of increased damping resulting from the viscoelasticity, the rotor stability of Micro turbocharger has been improved.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.286-289
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• 2008

Damping materials are widely used to reduce vibration or noise generation of structures. To understand their damping capability and for use in numerical simulations, their viscoelastic properties should be measured in the frequency range of interest. In this study, experimental setup is proposed to measure materials properties of very compliant polymer materials. The polymer materials used in this study are difficult to form into rod shapes, and typical resonance methods are not applicable. In the proposed measurement setup, the damping materials were modeled as a simple viscoelastic support at one end of the beam. Their properties were measured through analysis of their effects on the wave propagation characteristics of the beam structure.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Ocean Systems Engineering
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• 제3권2호
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• pp.149-165
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• 2013

Tension leg platforms (TLP's) are highly nonlinear due to large structural displacements and fluid motion-structure interaction. Therefore, the nonlinear dynamic response of TLP's under hydrodynamic wave loading is necessary to determine their deformations and dynamic characteristics. In this paper, a numerical study using modified Morison Equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between all degrees of freedom on the dynamic behavior of a TLP. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics was considered.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• IEIE Transactions on Smart Processing and Computing
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• 제5권4호
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• pp.267-273
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• 2016

Hand posture recognition is an important technique to enable a natural and familiar interface in the human-computer interaction (HCI) field. This paper introduces a hand posture recognition method using a depth camera. Moreover, the hand posture recognition method is incorporated with the Moving Picture Experts Group Rich Media User Interface (MPEG-U) Advanced User Interaction (AUI) Interface (MPEG-U part 2), which can provide a natural interface on a variety of devices. The proposed method initially detects positions and lengths of all fingers opened, and then recognizes the hand posture from the pose of one or two hands, as well as the number of fingers folded when a user presents a gesture representing a pattern in the AUI data format specified in MPEG-U part 2. The AUI interface represents a user's hand posture in the compliant MPEG-U schema structure. Experimental results demonstrate the performance of the hand posture recognition system and verified that the AUI interface is compatible with the MPEG-U standard.