• 로봇학회논문지
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• 제13권2호
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• pp.86-91
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• 2018

This paper presents about design efforts of a human-sized quadruped robot leg for high energy efficiency, and verifications. One of the representative index of the energy efficiency is the Cost of Transport (COT), but increased in the energy or work done is not calculated in COT. In this reason, the input to the output energy efficiency should be also considered as a very important term. By designing the robot with customized motor housing, small rotational inertia, and low gear ratio to reduce friction, high energy efficiency was achieved. Squatting motion of one leg was performed and simulation results were compared to the experimental results for validation. The developed 50 kg robot can lift the weight up to 200 kg, and during squatting, it showed high energy efficiency. The robot showed 71% input to output energy efficiency in positive work. Peak current during squatting only appears to be 0.3 A.

• 한국소음진동공학회논문집
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• 제23권3호
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• pp.234-239
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• 2013

There are many types of speed reducer for industrial uses. However the cycloid speed reducer is widely used in manipulators based on excellent performance of low backlash, high reduction ratio and compact size. It is essential to use precision speed reducer for accuracy of position controls on robot systems and electric vehicles. The cycloid speed reducer has a eccentric rotating motion and offset to avoid some problem of assembly, so it has a disadvantage for vibration. In this paper, a multi-body dynamic model is developed for a cycloid speed reducer and the dynamic behaviors of the reducer are investigated. The cycloid speed reducer consists of cycloidal plate gears, housing gear, input shaft, output pin and shaft, and eccentric bearings. Using a CAD program, each component of cycloid reducer is modeled based on the offset and eccentric. Multi-body simulations using Recurdyn and test using a rig tester are performed. As a result, the pin reaction force and the amplitude of housing displacement are increased by the larger offset and smaller eccentric value of cycloid reducer.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 학술대회 논문집 전문대학교육위원
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• pp.187-190
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• 2002

In contrast to conventional electromagnetic motor, USM(Ultrasonic Motor), as piezoelectric ceramic applying ultrasonic mechanical vibration and as frictional-movement type motor, get rotational torque by elastic friction between stator and rotator, The USM, which is small motor without iron cores and coil as a simple structure, has little load weight, has character of high torque at low speed, and can apply a direct drive type without deceleration gear as low speed type. A response of USM from control input is satisfactory, and also generates much torque in low speed driving, and holding torque is much without supplying power. In this study, I designed and made Ultrasonic motor-digital multi controller(USM- DMC) using FPGA chip, A54SX72A made in Actel Corporation. By the minute, USM-DMC can control frequency, duty ratio, and phase difference of USM by llbit digital input from Pc. Therefore, when we use this controller, we can apply to typical parameter, frequency, phase difference, and voltage parameter, to control as well as we can do mixing control like phase-frequency, phase-voltage, frequency-voltage, frequency-phase-voltage, What is more, the strongest point is that it can trace frequency based on optimized frequency because we can input optimized resonant frequency while in motoring.

• 대한의용생체공학회:의공학회지
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• 제28권2호
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• 수산경영론집
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• 제8권2호
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• pp.1-19
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• 1977

The results analyzed of the actual state of medium size two-boat trawler fishery based on the cost expended in 1975 are as follows: According to the calculation of interest, the total cost of this fishery comes to ￦ 55,353,807, and in this account, the production cost comes to ￦ 49,747,383 (89.9%) and the material cost comes to ￦ 27,027,662(48.8%), the labour cost comes to ￦ 10,381,013 (18.8%) the expenses, ￦12,338,708(22.3%) and commision and interest comes to ￦ 5,606,424 (10.1%). As above the fishery comes is 90% of production cost for the expense of production. The ratio of cost element to the total cost 100 is as follow: Fuel: 23.6%, allocation: 14.3%, fishing gear: 14.1%, boat repair: 13.0%, fish box: 8.5%, ice: 14.1%, commission: 6.9%, food cost: 4.5%, interest: 3.2%, transportation fee: 2.8%, consumption: 2.6%, tax: 2.5%, depreciation: 2.4%, administrative expense: 1.6%. The unit cost of catches to each box, including the interest, cames to ￦ 2,167 and not calculating the interest it comes to ￦ 2,098. The cost production to each kg comes to ￦ 114 including interest, without interest, it comes ￦110. When the production cost comes to 90.6%, it comes to 9.4% of total revenue. The reason which this fishery brings low income is that the boats are almost old and semi-diesel engine is used. So, fuel expense and repaire expenses needs too much. Acconding to above this fishery needs to replace new boat and new engine. And new are for this fishery needs to bring under cultivation in order to bring good income with the new method for this fishery. Specially, this fishery brings low income from July to September because of its rest from labour. And so, the expenses, item, and account of money, and the trust money the cost element are not showed in August.

• 전력전자학회논문지
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• 제17권2호
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• pp.166-173
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• 2012

Plug-in Hybrid Electric Vehicle is driven by the engine, the primary traction motor, and the secondary auxiliary motor generating the electric power for battery charging. Secondary auxiliary motor should be connected to the engine or separated from the engine by the clutch system. This paper presents the position controller of the BLDC motor for the clutch system of Plug-in Hybrid Electric Vehicle. The BLDC motor can be applied to the clutch system in spite of it's low accuracy of the position control due to high gear ratio between the clutch and the motor. Since the attachment and the detachment between the motor and the engine should be carried out within 0.3 seconds, the position controller with fast acceleration and deceleration is implemented. For the torque control with braking operation for the BLDC motor, the modified bipolar PWM method with low current ripple compared to the conventional unipolar PWM is presented. The position control performance of the BLDC motor for the clutch system is verified through the simulation and experiments.

• 수산해양기술연구
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• 제47권3호
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• pp.173-182
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• 2011

The purpose of this paper is to provide useful information for fishermen in the manner of investigation a sinking speed of current type tuna longline gear at the North Pacific Ocean as a new developed tuna longline fishing ground. The sinking depth of mainline in connection with different basket was investigated. The experiments were also performed with different materials such as Supermansen (i.e., PE) and Hitech (i.e., PA) for the mainline to investigate the sinking depth of mainline and hooks. Furthermore, the relation between the sinking depth of hooks and catches are investigated also. The sinking depth of mainline at the first and the last shooting basket shows deeper than that of middle part of a basket due to reduced shortening ratio. The sinking depth of mainline and hook with Hitech material shows more shallow than that of Supermanse material, even the Hitech case was designed to sink deeper than that of Supermanse case. The highest catches arise at the middle part basket as the hook number 7 with around 248m sinking depth. From the results, longline with Hitech material is needed to increase the sinking force for reaching the relevant sinking depth. Moreover, the current strength at the North Pacific Ocean will be considered for further commercial fishing.

• 수산해양기술연구
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• 제27권4호
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• pp.247-254
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• 1991

1982~88년 사이 한국건착망 어업의 망선 48척의 어황일보에 의한 조업해구, 어종별 어획량의 자료를 이용하여 5개 해역별로 어획량의 특성을 분석하였다. 이들 해역중 제주도 연안해역(CC)은 양망회수와 어획량은 많으나 양망당어획량이 타해역보다 적으므로, 조업중 어구의 형상에 대해 계측한 자료를 이용하여 저층류에 의한 망형변화에 대해 분석한 결과를 요약하면 다음과 같다. 1. 건착망의 평균 CPUE는 31.6톤인데 음 10~4월은 평균보다 높고, 음 5~9월은 낮았다. 2. 건착망 어장 5개 해역중 CC해역은 양망회수비 42.4%로서 가장 높고 CPUE는 25.7톤으로 낮았으며, 각 해역별 CPUE는 1%의 유의수준에서 차가 인정되었다. 3. 고등어 CPUE의 계절변동지수는 음 11~1월에 평균 136.3%였고, 음 5~10월에 평균 63.7%였다. 4. 저층류에 의한 역조시 선망권의 직경은 가장 짧았고, 이때 납줄에 의한 포위면적은 더욱 좁아지며 어군의 포위효율은 낮아졌다. 5. 저층류에 의한 납줄의 형상은, 순조의 경우 유향으로 장원형이 되었고, 역조의 경우 유향과 직교되는 방향으로 장원형이 되면서 포위면적이 급히 축소되었으며, 망의 변형은 역조의 경우 가장 심하였다.