• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.4
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.7 no.4
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• pp.267-285
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• 2002

Dok Island, a Pliocene volcano, lies in the southwestern part of the East Sea. Most the work to date have focused primarily on the petrolography of the island, and as a result, the morphological characteristics and internal structure of the volcanic edifices of the Dok Island remain poorly understood. To provide better constraints on these features, bathymetric data with multibeam echo sounder, 32-channel seismic and 3D gravity modeling were used in this study. Three positive topographic highs are present in the study area, and these highs satisfy the seamount criteria. They are named as Dokdo, Tamhae, and Donghae seamounts. 32-channel seismic survey was conducted to investigate the sediment thickness of the area, which shows that there are no sediments near the summit of seamounts. Away from the seamounts, however, sediment becomes thick(>2000 m) toward the western part of the study area, and sediments in the northern and southern parts are about 1000 m thick. Free-Air gravity anomalies in this study generally follow the bathymetric feature with less than -20 mGal at the western part, but increase towards the seamounts. In the summit of the Dokdo Seamount, anomalies reach over 120 mGal, and in Tamhae and Donghae seamounts, the peak anomaly shows 90 and 70 mGals, respectively. All seamounts have an isolated volcanic conduit in their centre and show regional compensation root with 0.5～1.5 km thickness. The flat-topped summit of the seamounts is probably caused by wave truncation, indicating the sea level at the time of formation of the flat-topped geometry. Comparison between the present-day sea level and subsidence level during the opening of the East Sea suggests that the seamounts in the study area have subsided by 200～300 m after the formation. Furthermore, it implies that the seamounts formed over 12～10 Ma.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.10
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• pp.705-711
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• 2019

Dynamic behaviors of the deployable composite reflector antenna are numerically and experimentally investigated. Equations of the motion are formalized using Kane's equation by considering multibody systems with two degrees of freedom such as folding and twisting angles. To interpret structural deformations of the reflector antenna, the composite reflector is modeled using a beam model with the FSDT(First-order Shear Deformation Theory). To determine design parameters such as a torsional spring stiffness and a damping coefficient depending on deployment duration, an inverted pendulum model is simply applied. Based on the determined parameters, dynamic characteristics of the deployable reflector are investigated. In addition, its results are verified and compared through deployment tests using a gravity compensation device.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.42-49
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• 2006

In this paper error-compensating techniques in three-point weighing method to precisely measure unbalance properties such as center of gravity and unbalance moment. In the conventional static methods, 1) fixture-errors, 2) effects of the contact between the fixture and the load scales, and 3) side effect due to the lateral frictional forces acting on the contact points between the fixture and the load scales are the major factors that lead to measurement errors. The proposed error-compensating method perfectly eliminates both the fixture-error and the contact-error simultaneously by manipulating the three measured reaction forces at three different angular locations. Also the friction-error is calibrated by comparing the sum of three reactions with the actual mass of the specimen. A set of measurement is performed using the same measuring system as Lee's, and a comparison of the results from the convectional, Lee's, and the proposed method is provided. The results show that the proposed method effectively compensates the errors listed above.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.

• Journal of Korean Neurosurgical Society
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• v.57 no.3
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• pp.178-184
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• 2015

Objective : Posterior vertebral translation as a type of spondylolisthesis, retrolisthesis is observed commonly in patients with degenerative spinal problems. Nevertheless, there is insufficient literature on retrolisthesis compared to anterolisthesis. The purpose of this study is to clarify the clinical features of retrolisthesis, and its developmental mechanism associated with a compensatory role in sagittal imbalance of the lumbar spine. Methods : From 2003 to 2012, 230 Korean patients who underwent spinal surgery in our department under the impression of degenerative lumbar spinal disease were enrolled. All participants were divided into four groups : 35 patients with retrolisthesis (group R), 32 patients with simultaneous retrolisthesis and anterolisthesis (group R+A), 76 patients with anterolisthesis (group A), and 87 patients with non-translation (group N). The clinical features and the sagittal parameters related to retrolisthesis were retrospectively analyzed based on the patients' medical records. Results : There were different clinical features and developmental mechanisms between retrolisthesis and anterolisthesis. The location of retrolisthesis was affected by the presence of simultaneous anterolisthesis, even though it predominantly manifest in L3. The relative lower pelvic incidence, pelvic tilt, and lumbar lordosis compared to anterolisthesis were related to the generation of retrolisthesis, with the opposite observations of patients with anterolisthesis. Conclusion : Retrolisthesis acts as a compensatory mechanism for moving the gravity axis posteriorly for sagittal imbalance in the lumbar spine under low pelvic incidence and insufficient intra-spinal compensation.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.207-212
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• 2005

The purpose of this work is to develop the FES controller that can cope with the muscle fatigue which is one of the most important problems of current FES (Functional Electrical Stimulation). The feasibility of the proposed FES controller was evaluated by simulation. We used a fitness function to describe the effect of muscle fatigue and recovery process. The FES control system was developed based on the biological neuronal system. Specifically, we used PD (Proportional and Derivative) and GC (Gravity Compensation) control, which was described by the neuronal feedback structure. It was possible to control of multiple joints and muscles by using the phase-based PD and GC control method and the static optimization. As a result, the proposed FES control system could maintain the cycling motion in spite of the muscle fatigue. It is expected that the proposed FES controller will play an important role in the rehabilitation of SCI patient.

• Current Optics and Photonics
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• v.7 no.4
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• pp.435-442
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• 2023

These days, the size of a reflective telescope has been increasing for astronomical observation. An additional optical system usually assists a large ground telescope for image analysis or the compensation of air turbulence. To guide collimated light to the external optical system through a designated path, a coudé mirror is usually adopted. Including a collimator, a coudé mirror of a ground telescope is affected by gravity, depending on the telescope's pointing direction. The mirror surface is deformed by the weight of the mirror itself and its mount, which deteriorates the optical performance. In this research, we propose an optimization method for the coudé mirror assembly for a 1-m class ground telescope that minimizes the gravitational surface error (SFE). Here the mirror support positions and the sizes of the mount structure are optimized using finite element analysis and the response surface optimization method in both the horizontal and vertical directions, considering the telescope's altitude angle. Throughout the whole design process, the coefficients of the Zernike polynomials are calculated and their amplitude changes are monitored to determine the optimal design parameters. At the same time, the design budgets for the thermal SFE and the mass and size of the mount are reflected in the study.