• 로봇학회논문지
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• 제4권2호
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• pp.163-168
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• 2009

In this paper, a new driving mechanism of security robotswhich should overcome obstacles with stability even though movingin high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.

• Structural Engineering and Mechanics
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• 제12권2호
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• pp.119-134
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• 2001

This paper deals with an experimental and numerical study of a mono-strand wedge anchor head mechanism. First, the experimental program is presented and monitored data such as wedge slippage, anchor deflection and strain distributions along external peripheral surfaces of the anchor head are presented and discussed. In accordance with the experimental set up, these data concern only the global behaviour of the mechanism and cannot provide valuable information such as internal stress-strains distributions, stress concentrations and percentage of yielded volume. Therefore, the second part of this paper deals with the development of an efficient numerical finite element model capable of providing mechanism of the core information. The numerical model which includes all kinematics/material/contact non-linearities is first calibrated using experimental data. Subsequently, a numerical study of the anchorage mechanism is performed and its behaviour is compared to the behaviour of a slightly geometrically modified mechanism where the external diameter has been increased by 5 mm. Finally, different topics influencing the anchorage mechanism behaviour are addressed such as lubrication and wedge shape.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 한국중재학회지:중재연구
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• 제27권4호
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• pp.157-177
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• 2017

World Trade Organization(WTO) has 164 members since it has established on 1995. It plays a significant role in solving the world trade disputes. The process of the dispute settlement mechanism includes five steps: Negotiation, Establishment of experts group, Deliberation of appellate body, Execution and Supervision of Verdict and the Sanctions for Default. It suggested that the higher rate of developed countries using mechanism to solving the disputes than developing countries solving disputes by mechanism through the analysis of dispute of WTO members. Meanwhile, the more powerful economic entity is, the more trade dispute will be. There are several problems of mechanism by analysis the recently famous cases of trade disputes: Overburden of experts panel, Low utilization rate of the mechanism of developing countries, Lack of economic competition policy and labor standard terms and Unfulfillment of retaliatory measures of developing countries towards developed countries. This paper propose proper solutions and advises to improve mechanism of WTO dispute settlement.

• 한국컴퓨터정보학회논문지
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• 제22권2호
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• pp.37-44
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• 2017

Wireless sensor networks are composed of many wireless sensor nodes that are sensing the environments. These networks have many constraints that are resource constraints, wireless communication, self-construction, etc. But they have many applications that are monitoring environment, tracking the object, etc. In this paper, a mechanism of finding QoS Satisfied multi-path is proposed in wireless sensor networks. In order to satisfy the QoS requirement, the proposed mechanism extends the AODV protocol to find multiple paths from a source node to a destination node by using the additional AODV message types that are proposed. This mechanism will be used to support many QoS applications such as minimum delay time, the better reliability and the better throughput by using the QoS satisfied multi-path. Overheads of the proposed mechanism are evaluated using simulation, and it is showed that QoS satisfied multiple paths are found with a little more overhead than the AODV mechanism.

• BMB Reports
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• 제29권3호
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• pp.210-214
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• 1996

The pH dependence of the kinetic parameters of mutant O-acetylserine sulfhydrylase (OASS) from Salmonella typhimurium LT-2 has been determined in order to obtain information on the chemical mechanism. The initial velocity pattern obtained by varying the concentrations of OAS at several fixed concentrations of TNB, shows an intersection on the left of the ordinate at pH 7.0, indicating that the kinetic mechanism is a sequential mechanism in which substrate inhibition by OAS is observed while the wild type enzyme showed a ping pong mechanism. The values of $V/E_t$, $V/K_{OAS}E_{t}$ and $V/K_{TNB}E_{t}$ decreased by about 68%, 14% and 16% as compared with the wild type enzyme. The $V/K_{OAS}E_{t}$ is a pK of 6.5 on the acid side of the pH profile, and the $V/K_{TNB}$ is pH independent. As compared with the wild type enzyme, the pKs in the V/K profiles are shifted, reflecting that binding of the cofactor in free E:OAS is less asymmetric.

• 대한기계학회논문집
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• 제15권2호
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• pp.404-412
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• 1991

In the design of high speed machinery, designers must consider the problem of possible structural failure due to excessive dynamically varying stresses, which are induced by the varying external loads and internal inertia forces, in the links of the mechanism. A study of the dynamically induced stresses would indicate what values of the minimum permissible fatigue strength should be for safe mechanism operation. This paper investigates the nature of the stress fluctuation in high speed mechanism on the basis of the effects of both the loads and the friction. The latter is apt to be neglected in the usual analysis in spite of the fact that it is always generated in the operating machinery. The analysis is performed on the coupler of the slider-crank mechanism for illustrative purposes and the results are expressed in a non-dimensional form for design applications.

• 대한기계학회논문집A
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• 제27권5호
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• pp.764-771
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• 2003

To control the motion generated by a compliant mechanism the design method using specified geometrical advantage is proposed. The optimization problem is formulated to minimize the difference between the specified and the current geometrical advantage of a mechanism and topology optimization is applied to determine the layout of a mechanism. The results of several test problems including a displacement converter design and a gripper design are compared with a multi-criteria model and show that the design of an accurate compliant mechanism with specified geometrical advantage can be obtained.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.