• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.1
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• pp.185-201
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• 2023

Grant-free random access (GFRA) can reduce the access delay and signaling cost, and satisfy the short transmission packet and strict delay constraints requirement in internet of things (IoT). IoT is a major trend in the future, which is characterized by the variety of applications and devices. However, most existing studies on GFRA only consider a single type of device and omit the effect of access delay. In this paper, we study GFRA in multicell massive multipleinput multiple-output (MIMO) systems where different types of devices with various configurations and requirements co-exist. By introducing the backoff mechanism, each device is randomly activated according to the backoff parameter, and active devices randomly select an orthogonal pilot sequence from a predefined pilot pool. An analytical approximation of the average spectral efficiency for each type of device is derived. Based on it, we obtain the optimal backoff parameter for each type of devices under their delay constraints. It is found that the optimal backoff parameters are closely related to the device number and delay constraint. In general, devices that have larger quantity should have more backoff time before they are allowed to access. However, as the delay constraint become stricter, the required backoff time reduces gradually, and the device with larger quantity may have less backoff time than that with smaller quantity when its delay constraint is extremely strict. When the pilot length is short, the effect of delay constraints mentioned above works more obviously.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.911-915
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• 2014

Pyrotechnic devices are widely used for space appendages. However, a cube satellite requirements do not permit the use of explosive pyrotechnic device. A nichrome burn wire release has typically been used for holding and release of deployable appendages of the cube satellite due to its simplicity and low cost. However, relatively low mechanical constraint force and system complexity for application of multi-deployable systems are disadvantages of the conventional mechanism. To overcome these drawbacks, we have developed a segmented nut type holding and release mechanism based on the nichrome burn wire release. The great advantages of the mechanism are much lower shock level and larger constraint force than the conventional mechanism using pyro. Flight model for on-orbit verification was developed and verified through release function test, vibration test and thermal vacuum test.

• Journal of the Korean Association of Geographic Information Studies
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• v.12 no.1
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• pp.81-95
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• 2009

The CDB(Constraint Database) model is a new paradigm for massive spatial data processing such as GIS(Geographic Information System). This paper will identify the limitation of the schema structure and query processing through prior spatial database research and suggest more efficient processing mechanism of constraint data model. We presented constraint model concept, presentation method, and the examples of query processing. Especially, we represented TIN (Triangulated Irregular Network) as a constraint data model which displays the height on a plane data and compared it with prior spatial data model. Finally, we identified that we were able to formalize spatial data in a simple and refined way through constraint data modeling.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.53 no.8
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• pp.484-489
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• 2004

When the energy resource available to a particular plant (be it coal, oil, gas, water, or nuclear fuel) is a limiting factor in the operation of the plant, the entire economic dispatch calculation must be done differently. Each economic dispatch calculation must account for what happened before and what will happen in the future. This paper presents a formulation and a solution method for the optimization problem with a fuel constraint in a competitive electricity market. Take-or- Pay (TOP) contract for an energy resource is the typical constraint as a limiting factor. Two approaches are proposed in this paper for modeling the dispatch calculation in a market mechanism. The approaches differ in the subject who considers and inserts the fuel-constraint into its optimization problem. Market operator and each power producer having a TOP contract are assumed as such subjects. The two approaches are compared from the viewpoint of profits. surplus. and social welfare on the basis of Nash Equilibrium.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.3
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• pp.274-280
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• 2016

Hinge driving type holding and release mechanism based on the burn wire release for application of cubesat is main payload of STEP Cube Lab. (Cube Laboratory for Space Technology Experimental Project) to be launched at 2015. It has high constraint force, low shock level as well as surmounting drawbacks of conventional nichrome burn wire release method that has relatively low constraint force and system complexity for application of multi-deployable systems. In this paper, we have proposed a flight model of holding and release mechanism for the verification of the constraint force and deployment status signal acquisition. To validate the effectiveness of the flight model, launch and on-orbit environment verification test have been performed.

• Journal of KIISE:Databases
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• v.34 no.6
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• pp.493-502
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• 2007

Due to a growing interest in searching and expressing knowledge effectively, knowledge management methods such as Topic Map are becoming more important. Topic Map organizes knowledge that is full of intricate relations, so maintaining and managing Topic Map consistently is very essential. TMCL and other constraint languages have limits as they can check simple constraints but can not support complex constraints like dependence constraints. Current constraint checking systems operating at the application level are also showing an inferiority in performance. In this paper, we extend TMCL based on the characteristics of other constraint languages in the information system field and related fields. We build and propose an RDBMS-based Topic Map constraint checking system to support the extended constraint language effectively. This new system handles complex types of constraints like dependency constraint as well as basic Topic Map constraints present in the TMCL. As the system examines each constraint it uses templates to generate queries for effective checking and overall shows a higher performance level than current systems.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.5
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• pp.401-406
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• 2013

Non-explosive shockless holding and release mechanism for a nano class small satellite application has been proposed and investigated. The great advantages of the mechanism are a much lower shock level and larger constraint force than the conventional mechanism using pyro and the heating wire cutting mechanism which has been generally applied to the cube satellite program. To investigate the effectiveness of the mechanism design, EM mechanism was developed and tested to verify the basic function of the mechanism. The test results indicate that the proposed mechanism is well functioning as the mechanism design intends.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.669-681
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• 2016

Mechanical designers often make mistakes that result in unwanted over-constraints, causing difficulty in assembly operations and residual stress due to interference among parts. This study is concerned with detection and elimination of over-constraints. Screw theory is a general method that is used for constraint analysis of an assembly and motion analysis of a mechanism. Mechanical assemblies with plane-plane, pin-hole, and pin-slot constraint pairs are analyzed using screw theory to illustrate its utility. As a real-world problem, a ball valve design is analyzed using the same method, and several unwanted over-constraints are detected. Elimination measures are proposed. Nominal dimensions of some parts are adjusted, and dimensions and tolerances of the pins and holes are modified using the virtual condition boundary concept. The revised design is free of over-constraints. General procedure for applying screw theory to constraint analysis is established and demonstrated; it will contribute to improving quality of assembly designs.

• Structural Engineering and Mechanics
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• v.35 no.1
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• pp.83-98
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• 2010

In this paper, the mass optimization of four bar linkages is carried out using genetic algorithms (GA) with single and dual constraints. The single constraint of bending stress and the dual constraints of bending and buckling stresses are imposed. From the movement response of the bar linkage mechanism, the analysis of the mechanism is developed using the combination of kinematics, kinetics, and finite element analysis (FEA). A penalty-based transformation technique is used to convert the constrained problem into an unconstrained one. Lastly, a detailed comparison on the effect of single constraint and of dual constraints is presented.