• Journal of the Society of Naval Architects of Korea
• /
• v.55 no.2
• /
• pp.153-160
• /
• 2018

In order to develop the driving pump for High-speed Cavitation Tunnel(HCT) which can experiment the super-cavitating submerged body, KRISO decided on the pump specification, designed the mixed-flow pump on the basis of the existing pump data and predicted the performance of the design pump using commercial CFD code (CFX-10). After the manufacture and installation of the driving pump, KRISO conducted the trial-test for HCT, analyzed the pump performance and compared trial-test results to those of design stage. The trial-test items for the HCT driving pump are measurements of output current/voltage at the inverter of the driving pump and the flow velocity in the HCT test section. The trial-test results showed the decrease in the flow rate of about 4.6% and the increase in pump head of about 8%, compared with those of the pump prediction. After the trial-test, the performance of the driving pump is predicted using CFX-10 with measured flowrates and pump rotational velocities. Though there is some difference between trial-test and prediction results due to inadequate motor data, it is thought that the tendency is reasonable. It is found that CFX-10 is useful to predict a mixed-flow pump.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.10
• /
• pp.1021-1028
• /
• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• The Journal of Natural Sciences
• /
• v.6 no.1
• /
• pp.89-102
• /
• 1993

Das ursprngliche menshiche Verlangen nach Erotik hatte trotz der Unterdruckung und des Verbots seit der Anfang der Zeit bis heute stets das menschliche Interesse auf sich gezogen. Diese Erotik drckte nicht nur die knstlerische Handlung aus, sondern sie hat auch eine enge Beziehung zur kubischen Darstellung von Mode. Sie beschreibt die innere menschliche Welt und ist der Motor der individuellen Mode. Die Erotik entsteht wesentlich aus der Tiefe der menschlichen Psyche, ist sowohl erzeugende und starke schpferische Krfte als auch der Antrieb zur Annhrung der unsterblichen Welt. Darberhinaus ist sie auch der Wunsch jedes Individums, sich selbst zu entdecken. Diese Erotik beruht sich in unserem Unterbewutsein und Sie bricht nur dann aus, wenn der Mensch von der rtselhaften Leidenschaft beherrscht wird. Dardurch werden gewisse Krfte frei und sie motivieren den Menschen durch verschieden knstlerische Darstellung diese Erotik auszudrcken. Dieser ganz natrliche Ausdruck menschlicher Begierde wurde durch Kleidung nach Auen signalisiert. Damit drckte der Mensch seine Individualitt aus, und versuchte sich den anderen gegenber so reizvoll wie mglich zu zeigen und wirkte sehr anziehend. Schlilich hat er sich als Sex-Appeal zur Schau gestellt. Solches menschliche Sehnsucht nach Erotik wurde seit dem Altertum bis heute durch verschiedene erotische Kieidungen zum Ausdruck gerbracht.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.1
• /
• pp.1-9
• /
• 2019

In electric agricultural machine the gearbox is used to increase torque and lower the output speed of the motor shaft. The gearbox consists of several shafts, helical gears and spur gears works in series. Optimization plays an important role in gear design as reducing the weight or volume of a gear set will increase its service life and improve the bearing capacity. In this paper the basic design parameters for gear like shaft diameter and face width are considered as the input variables. The bending stress and material volume is considered as the objective function. ANSYS was used to investigate the bending stress when the variable was changed. Artificial Neural Network (ANN) was used to obtain the mathematical model of the system based on the bending stress behaviour. The ANN was used since the output system is nonlinear. The Genetic Algorithm (GA)　technique of optimization is used to obtain the optimized values of shaft diameter and face width on the pinion based on the ANN mathematical model and the results are compared as that obtained using the traditional method. The ANN and GA were performed using MATLAB. The simulation results were shown that the proposed algorithm was successfully calculated the value of shaft diameter and face width to obtain the minimal bending stress and material volume of the gearbox.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.19 no.1
• /
• pp.85-95
• /
• 2019

This work shows how to design a robot structure and to control to overcome obstacles while traveling through ducts of various diameters and shapes by three-legged robot. Circuits are centered in the body to connect the three wheel bodies that are driven around the center body with the 4-section slider link structure. Also, the springs are used to contract and expand the robot legs so that it can be caparable of various environments. Geared motor, spring, and belt were selected based on the static and dynamic calculation to be suitable to horizontal and vertical travels. The center body is equipped with a camera and the distance sensors, and a control algorithms are implemented so that it can be successfully performed in L-type and T-type ducts. Using UWB modules and trilateration algorithm, the location of the duct-cleaning robot inside the duct could be identified successfully.

• Journal of Advanced Navigation Technology
• /
• v.25 no.1
• /
• pp.29-39
• /
• 2021

As a means of solving traffic congestion in the downtown of large city, the interest in urban air mobility (UAM) using electric vertical take-off landing personal aerial vehicle (eVTOL PAV) is increasing. eVTOL configurations that will be used for UAM are classified by lift-and-cruise, tilt rotors, tilt-wings, tilted-ducted fans, multicopters, depending on propulsion types. This study tries to perform preliminary conceptual design for a given mission profile using reverse engineering techniques by taking the multicopter type Airbus's CityAirbus as a basic model. Wetted area, lift to drag ratio, drag coefficients were calculated using the OpenVSP which is an aerodynamic analysis software. The power required for each mission section of CityAirbus were calculated, and the corresponding battery and motor were selected. Also, total weight was predicted by estimating component weights of eVTOL.

• Journal of Drive and Control
• /
• v.19 no.4
• /
• pp.36-45
• /
• 2022

The aim of this study was to verify an E-driving system of a 44 kW-class electric tractor using agricultural workload data. Workload data were acquired during field test (plow tillage, rotary tillage, loader operation, field driving, asphalt driving) using a conventional tractor with a load measurement system. These workload data were converted to data of a 44 kW-class tractor based on the load factor of the engine. These data were used to verify the design of the E-driving system of an electric tractor. High-load operations such as plow tillage, rotary tillage, and loader operation could be performed at stage L and stage M. High-speed operation (asphalt driving) could be effectively performed at stage H using a rated rotational speed of the motor. As a result, the E-driving system of the electric tractor was possible to perform all major agricultural operations according to gear stages of range shift. Based on results of this research, we plan to develop an electric tractor equipped with an E-driving system and conduct research on actual vehicle verification in the future.

• Journal of the Korean Society of Clothing and Textiles
• /
• v.48 no.2
• /
• pp.312-327
• /
• 2024

In this study, a rehabilitation 3D printed wearable device was developed by combining an assembly-type robot hand and an integral-type robot hand through fused deposition 3D printing manufacturing with various hardness TPU (Thermoplastic Polyurethane) filaments. The hardware configuration of the robot hand includes a controller designed with four motors, one small servo motor, and a circuit board. In the case of the assembly-type robot hand model, a 3D printed robot hand was assembled using samples printed with TPU of hardness 87A and 95A. It was observed that TPU with a hardness of 95A was suitable for use due to shape stability. For the integrated-type robot hand model, the external sample using TPU of hardness 95A could be modified through a cutting method, and the hardware configuration is the same as the assembly-type. The system structure of the 3D printed robot hand was improved from an individual control method to a simultaneous transmission method.Furthermore, the system architecture of an integrated 3D printed robotic hand rehabilitation device and the application of the rehabilitation device were developed.

• The Journal of the Convergence on Culture Technology
• /
• v.10 no.1
• /
• pp.465-470
• /
• 2024

Kitchen cabinets are widely used for their spacious storage and efficient use of space, but their high installed location makes it difficult for the elderly and disabled to access. Therefore, in this paper, we propose a new height-adjustable kitchen cabinet that can be used more easily and safely. The lift-down range of cabinet was set considering the installation location of cabinet for efficient use of kitchen space and the maximum height accessible to the elderly and disabled, and the link geometry and driving method of the complex link mechanism were determined through the mechanism design procedure to ensure that the selected floor come down safely along the optimal descend path. In addition, the appropriate motor and control algorithm were added to allow the user to descend to the desired height with a simple button operation. It was confirmed through actual production that the proposed linkage mechanism performs the desired lift-down motion.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.11
• /
• pp.755-760
• /
• 2016

The demand for independent generators using renewable energy has been increasing. Among those independent generators, small wind turbine generators have been actively developed. Permanent magnets are generally used for small wind turbine generators to realize a simple structure and small volume. On the other hand, cogging torque is included due to the structure of the permanent magnet synchronous machine, which can be the source of noise and vibration. The cogging torque can be varied by the shape of the permanent magnet and core, and it can be reduced using the appropriate design techniques. This paper proposes a design technique that can reduce the cogging torque by changing the shape of the permanent magnets for SPMSM (Surface Permanent Magnet Synchronous Motor), which is used widely for small wind turbine generators. Evolution Strategy, which is one of non-deterministic optimization techniques, was adopted to find the optimal shape of the permanent magnets that can reduce the cogging torque. The angle and outer diameter of permanent magnet were set as the design variable. A 300W class wind turbine generator, whose pole/slot combination was 8 poles/18 slots, was designed with the proposed design technique. The properties of the generator, including the cogging torque and output voltage, were calculated. The calculation results showed that the cogging torque of the optimized model was reduced compared to that of the initial model. The design technique proposed by this paper can be an effective measure to reduce the cogging torque.