• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.641-644
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• 2005

The study on the interaction forces of some biological materials is important to understanding biological phenomena and their application to practical purpose. This paper introduces a measuring technique for biological adhesive forces using the AFM(Atomic Force Microscope). Since no standardized thesis on adhesive forces exist, the adhesive forces is defined as adhesive forces against a hardened surface of biological materials. To grant the results are meaningful, which is based on the understanding the surface characteristics of biological materials using the AFM, a nominal value of average adhesive force per unit area should be measured. Therefore the modified AFM probe with small micro glass bead was proposed so that it can guarantee the required contact area for measuring the average adhesive forces. A pyrex glass substrate with circular patterns, which was fabricated by micromachining technique, is introduced in order to controll the contact area. The two types of mussel adhesive proteins, Celltak and recombinant-MGFP5, were tested by the proposed measuring method. The test results show that the adhesive force of the mussel adhesive proteins can be reliably measured by use of this method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.4
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• pp.7-12
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• 2014

IETF (Internet Engineering Task Force) CoAP (Constrained Application Protocol) protocol is supported communication between sensor or actuator nodes by in a constrained environment, such as small amount of memory, and low power. CoAP and HTTP protocol can convert easily, and can use to monitor or controll the infrastructure utility through low-power sensor and actuator networks in IoT (Internet of Thing) and M2M (Machine-to-Machine) environment. IETF CoRE(Constrained RESTful environments) Working Group proposed CoAP protocol in 2010, and began to standardize it. Recently, CoAP protocol is published RFC (Request for Comments) 7252. In this paper, we design and implement of CoAP protocol for testing the interoperability in heterogeneous operating environments. For this experiment, we developed the CoAP client program based on Windows environment and CoAP server program in Linux environment to test the interoperability.