• 제어로봇시스템학회논문지
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• 제4권3호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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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.

• 한국인터넷방송통신학회논문지
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• 제14권4호
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• pp.7-12
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• 2014

IETF (Internet Engineering Task Force)의 CoAP (Constrained Application Protocol) 프로토콜은 작은 용량의 메모리와 저전력 등 제한된 환경에서 센서나 구동체 노드 간에 통신을 지원한다. CoAP 프로토콜은 HTTP와 쉽게 상호 변환할 수 있으며, 사물인터넷(Internet of Thing : IoT)와 M2M (Machine-to-Machine) 환경에서 저전력 센서와 구동체 네트워크를 통한 기반 시설을 감시하거나 관리할 수 있다. IETF CoRE(Constrained RESTful environments) 워킹그룹(Working Group)에서 2010년에 CoAP 프로토콜에 대한 표준화를 시작하여 최근에 RFC(Request for Comments) 7252로 발표한다 [2]. 본 논문에서는 이질적인 운영 환경에서 CoAP 프로토콜을 설계하고 구현하여 상호 호환성을 검증한다. 이를 위해 CoAP 클라이언트에는 윈도우 기반의 CoAP 프로토콜을 실현하고, CoAP 서버에는 리눅스 기반의 CoAP 프로토콜을 구현하여 상호 연동 실험을 실시하여 동작을 확인한다.