• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.834-839
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• 2004

In this paper, we investigate the optimal base position and joint configuration of a planar wheeled mobile manipulator in terms of manipulability measure. Taking into account the level of coordination between a manipulator and a platform, both local and global optimization problems are considered. First, based on the kinematic models of a mobile manipulator, the manipulability measures are expressed along with the analysis of the configurational dependency. Second, the geometric symmetry of a mobile manipulator in view of manipulability measure is analyzed, and for some base positions, the best and worst joint configurations are determined, Third, with reverence to the maximum, minimum, and average manipulability measures, the optimal base positions are determined, and the percent improvements due to the base relocation are discussed considering the relative scales among the platform size, the wheel radius, and the link length.

• Design & Manufacturing
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• 제15권1호
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• pp.1-7
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• 2021

The position of the gate is one of the important factors for optimal injection molding. This is because inappropriate gate positions cannot fill the cavity uniformly, which can lead to defects such as contraction. In this study, CAE was performed on hot runner injection molding of the washing machine base and plasticity was compared by changing gate position from existing gate position. A total of two alternatives have been applied to compare the plasticity of the washing machine base according to its optimal gate position. The gate position of the improved molds and the gate position of the current mold is analyzed by injection molding analysis. The results of the fill time, the pressure at V/P switchover, clamping force, and deflection were compared. In washing machine base injection molding, the deflection was reduced by about 3.76% in the improved mold 2. In improved mold 1, the fill time during injection molding was reduced by 3.32% to enable uniform charging, and the clamping force was reduced by 31.24%. We have confirmed that the position of the gate can change the charging pressure and the clamping force and affect the quality and cost savings of the molded product.

• 한국음향학회지
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• 제18권7호
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• pp.92-100
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• 1999

마이크로셀 이동 통신에서 기지국으로부터 이동국까지의 전파환경을 보다 신속하고 정확히 해석하기 위해 전파의 반사횟수와 전파경로를 연산처리 할 수 있는 삼각해석법 알고리즘을 제안한다. 그리고, 이동국이 가시거리 영역의 전파 음영지역 또는 가시거리 영역과 임의의 경사각으로 기울어져 있는 비가시거리 영역의 전파 음영지역에 위치한 경우를 각각 가정하고 제안 알고리즘을 시뮬레이션하여, 그 결과를 분석함으로써 마이크로셀 이동 통신의 최적 기지국 위치 선정 조건을 제시한다.

• Journal of Communications and Networks
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• 제9권3호
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• pp.254-264
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• 2007

A promising approach to improve the performance of mobile location system is the use of antenna arrays in both transmitter and receiver sides. Using advanced array signal processing techniques, such multiple-input multiple-output (MIMO) communication systems can offer more mobile location information by exploiting the spatial properties of the multipath channel. In this paper, we propose a novel approach to determine the position of mobile terminal based on estimated multipath signal parameters using only one base station in MIMO communication systems. This approach intends to minimize the error occurring from the estimation of multiple paths and gives an optimal estimation of the position of mobile terminal by simultaneously calculating a set of nonlinear location equations. This solution breaks the bottleneck of conventional mobile location systems which have to require multilateration of at least three base stations.

• Structural Engineering and Mechanics
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• 제86권4호
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• pp.503-518
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• 2023

In tall constructions, the outriggers are regarded as a structural part capable of effectively resisting lateral loads. This study analyses the efficacy of hybrid outrigger system in high rise RCC building for various structural parameters identified. For variations in α, which is defined as the ratio of the relative flexural stiffness of the core to the axial rigidity of the column, static and dynamic analyses of hybrid outrigger system having a virtual and a conventional outrigger at two distinct levels were conducted in the present study. An investigation on the optimal outrigger position was performed by taking the results from absolute maximum inter storey drift ratio (ISD_max), roof acceleration (acc_roof), roof displacement (disp_roof), and base bending moment under both wind and seismic loads on analytical models having 40, 60 and 80 storeys. An ideal performance index parameter was introduced and was utilized to obtain the optimal position of the hybrid outrigger system considering the combined response of ISD_max, acc_roof, disp_roof and, criteria required for the structure under wind and seismic loads. According to the behavioural study, increasing the column area and outrigger arm length will maximise the performance of the hybrid outrigger system. The analysis results are summarized in a flowchart which provides the optimal positions obtained for each dependent parameter and based on ideal performance index which can be used to make initial suggestions for installing a hybrid outrigger system.

• 한국컴퓨터정보학회논문지
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• 제13권2호
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• pp.235-242
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• 2008

이동자율로봇은 작업 공간을 벗어난 작업에 대하여 높은 성능을 보일 수 있으므로 고정 베이스 구조인 매니플레이터에 비하여 다양한 작업 환경에서 유용하다. 임의의 위치에 있는 물체를 인식하기 위하여 이동자율로봇에 부착된 2자유도의 능동카메라에 의해 입력되는 영상과 능동카메라의 기구학적 관계와 직각좌표계를 이용하여 물체의 위치와 이동로봇의 위치를 구하는 방법을 제시한다. 동차행렬을 이용하여 이미지정보와 물체의 위치를 해석하므로 이동자율로봇의 최적경로를 생성한다. 최종적으로, 물체의 인식을 통하여 이동로봇을 제어할 수 있는 조인트변수의 값을 계산한다. 제안된 방법은 제작된 이동자율로봇의 시뮬레이션과 실험을 통하여 확인되어지고 논의된다.

• 한국생산제조학회지
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• 제19권2호
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

• 한국공간구조학회논문집
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• 제18권2호
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• pp.43-50
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• 2018

In this study, TMD(Tuned Mass Damper) is installed in a retractable-roof spatial structure in order to investigate dynamic response characteristics according to mass ratio and installed position of TMD on large spatial structures. The example analytical model is generated based on the Singapore sports hub stadium. Twenty eight analytical models are used to investigate optimal installation position of TMD for the example retractable-roof spatial structure using 4 to 16 TMDs. The mass of one TMD is set up 1% of total mass at the example analytical model. Displacement response ratio of model with TMD is compared with that of base model without TMD. It has been found from numerical simulation that it is more effective to install TMD at the edge of the spatial structure rather than to concentrate the TMD at the center of the spatial structure.

• 한국군사과학기술학회지
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• 제26권5호
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• pp.400-408
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• 2023

The tracking accuracy of buoy-based LBL(Long Base Line) systems can be significantly influenced by sea environmental conditions. Particularly, the position of buoys that may have drifted due to sea currents. Therefore it is necessary to predict and optimize the drifted-buoy positions in the deploying step. This research introduces a free-drift simulation model using ocean data from the European CMEMS. The simulation model's predictions are validated by comparing them to actual sea buoy drift tracks, showing a substantial match in averaged drift speed and direction. Using this drift model, we optimize the initial buoy layout and compare the tracking performance between the center hexagonal layout and close track layout. Our results verify that the optimized layout achieves lower tracking errors compared to the other two layout.

• 로봇학회논문지
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• 제6권1호
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• pp.78-85
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• 2011

This article investigates kinematic characteristics of a Sch$\ddot{o}$nflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.