• International Journal of Automotive Technology
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• 제7권1호
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• pp.115-120
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• 2006

On a rotating contact surface of arbitrary shape, the relative velocity of the contact point sliding between the surfaces is computed with the basic geometries of the rotating surfaces, and the acceleration of the contact point between the contact surfaces is computed by using the relative velocity of the contact point. Thus the equation for the acceleration constraint between the contact surfaces in muitibody dynamics is not coupled with the parameters such as the relative velocity of the contact point. In case of the kinematic analysis, the acceleration of the contact point on any specific instant may also be efficiently computed by the present technique because the whole displacement of a full cycle need not be interpolated. Employing a cam-follower mechanism as a verification model, the acceleration of the contact point computed by the present technique is compared with that computed by differentiating the displacement interpolated with a large number of nodal points.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권3호
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• pp.1119-1143
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• 2014

Lightweight trust mechanism with lightweight cryptographic primitives has emerged as an important mechanism in resource constraint wireless sensor based mobile devices. In this work, outlier detection in lightweight Mobile Ad-hoc NETworks (MANETs) is extended to create the space of reliable trust cycle with anomaly detection mechanism and minimum energy losses [1]. Further, system is tested against outliers through detection ratios and anomaly scores before incorporating virtual programmable nodes to increase the efficiency. Security in proposed system is verified through ProVerif automated toolkit and mathematical analysis shows that it is strong against bad mouthing and on-off attacks. Performance of proposed technique is analyzed over different MANET routing protocols with variations in number of nodes and it is observed that system provide good amount of throughput with maximum of 20% increase in delay on increase of maximum of 100 nodes. System is reflecting good amount of scalability, optimization of resources and security. Lightweight modeling and policy analysis with lightweight cryptographic primitives shows that the intruders can be detection in few milliseconds without any conflicts in access rights.

• 대한기계학회논문집A
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• 제21권1호
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.680-685
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• 1992

Solar arrays and antennas of the satellite are usually stowed within the dimensions of the launch-vehicle fairing and deployed in the orbit. To solve such multibody dynamic problems, differential equations and algebraic equations are simultaneously solved, and special solution techniques are required. In this paper, Lagrange multipliers associated with the constraints are iteratively computed by monotonically reducing an appropriately defined constraint error vector, and the resulting equation of motion is solved by a well-established ODE technique. Defomable bodies as well as rigid bodies are treated, and applications to satellite solar arrays are explained.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권6호
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• pp.1357-1378
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• 2013

Energy constraint of wireless sensor networks makes energy saving and prolonging the network lifetime become the most important goals of routing protocols. In this paper, we propose an Energy Efficient Chain-based Routing Protocol (EECRP) for wireless sensor networks to minimize energy consumption and transmission delay. EECRP organizes sensor nodes into a set of horizontal chains and a vertical chain. Chain heads are elected based on the residual energy of nodes and distance from the header of upper level. In each horizontal chain, sensor nodes transmit their data to their own chain head based on chain routing mechanism. EECRP also adopts a chain-based data transmission mechanism for sending data packets from the chain heads to the base station. The simulation results show that EECRP outperforms LEACH, PEGASIS and ECCP in terms of network lifetime, energy consumption, number of data messages received at the base station, transmission delay and especially energy${\times}$delay metric.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1961-1968
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• 2003

In this paper, an efficient numerical algorithm for the kinematic analysis of the standard MacPherson suspension system is presented. The kinematic analysis of the suspension mechanism is carried out in terms of the rectangular Cartesian coordinates of some defined points in the links and at the kinematic joints. Geometric constraints that fix the distances between the points belonging to the same rigid link are introduced. The nonlinear constraint equations are solved by iterative numerical methods. The corresponding linear equations of the velocity and acceleration are solved to yield the velocities and accelerations of the unknown points. The velocities and accelerations of other points of interest as well as the angular velocity and acceleration of any link in the mechanism can be calculated.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.535-540
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• 2000

This paper presents the development of a Parallel-Typed CNC Machining Tool. It is specially designed to machine a complex shaped workpiece by controlling the orientation of the tool. The inverse/direct kinematics of a parallel mechanism is derived and implemented in a PC based controller. With graphics icons, the GUI (Graphic User Interface) program is developed for the CNC programing. The calibration is accomplished by geometric constraint motion, which is a parallel motion of the platform with respect to a table. The calibration result is introduced and the future study is proposed.

• 영어어문교육
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• 제15권2호
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• pp.93-119
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• 2009

Internalized Confucian cultural scripts trigger meta-pragmatic thinking in Korean communication. Commonly shared cultural knowledge acts as a powerful constraint upon the behavioral patterns of each participant and this knowledge can be strategically manipulated to avoid confrontations. The strategic use of address reference terms utilizes cultural values as a face-redress mechanism to achieve situation-specific goals. This paper offers a view of Korean address reference terms that rests on four revisions of politeness theory (Brown & Levinson, 1978, 1987). First, the notion of discernment - or 'wakimae' - as a culture-specific mechanism is reanalyzed. Secondly, culture-specific values as another R (ranking of imposition) variable are introduced. Thirdly, a reevaluation of the notion of positive face (respect) is discussed. Finally, the address reference terms in combination with other honorifics by the speaker that can be strategically applied either to threaten or to enhance the face of the hearer is observed. Because Confucianism is embedded in Korean cultural identity, teaching cultural values integrated and their roles in situation-dependent politeness is required in order to understand interactional nature of politeness occurring from particular discourse contexts.

• 한국항공우주학회지
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• 제41권9호
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• pp.720-725
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• 2013

큐브위성에서는 일반적으로 열선 작동 시 나일론선의 절단과 함께 구속을 해제하는 메커니즘을 적용하고 있다. 이를 적용할 경우 메커니즘은 단순하여 적용이 용이하나 다수의 구조물의 구속 및 분리를 위해 다수의 열선을 적용해야 하는 등 시스템의 복잡화가 불가피하며, 나일론선의 체결력이 상대적으로 취약하여 작용하중이 큰 구조물의 구속을 통한 구조건전성 확보에 취약한 단점을 갖는다. 본 연구에서는 상기의 단점을 극복하기 위한 큐브위성용 구속분리장치와 이를 적용하여 복수구조물의 동시 구속 및 분리가 가능한 큐브위성의 구조설계를 제안하였다. 분리장치 실험실 모델의 동작시험을 통해 분리장치의 기능성을 검증하였으며, 주요 분리 대상체인 상부 및 하부 주구조체가 분리장치에 의해 동시 구속된 상태의 큐브위성의 구조해석을 통해 구조설계의 유효성을 입증하였다.