• Structural Engineering and Mechanics
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• 제52권6호
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• pp.1177-1191
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• 2014

Reinforced concrete (RC) shear walls are one of the most commonly used lateral-load resisting systems in high-rise buildings. RC Parallel redundancy walls studied herein consist of two parts nested to each other. These two parts have different mechanical behaviors and energy dissipation mechanisms. In this paper, experimental studies of four 1/2-scale specimens representing this concept, which are subjected to in-plane cyclic loading, are presented and test results are discussed. Two specimens consist of a wall frame with barbell-shaped walls embedded in it, and the other two consist of a wall frame and braced walls nested each other. The research mainly focuses on the failure mechanism, strength, hysteresis loop, energy dissipation capacity and stiffness of these walls. Results show that the RC parallel redundancy wall is an efficient lateral load resisting component that acts as a "dual" system with good ductility and energy dissipation capacity. One main part absorbs a greater degree of the energy exerted by an earthquake and fails first, whereas the other part can still behave as an independent role in bearing loads after earthquakes.

• 로봇학회논문지
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• 제7권2호
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• pp.101-112
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• 2012

It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.2097-2098
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• 2006

In this study, we introduce the hybrid optimization of fuzzy inference systems that is based on Hierarchical Fair Competition-based Parallel Genetic Algorithms (HFCGA). HFCGA is a kind of multi-populations of Parallel Genetic Algorithms(PGA), and it is used for structure optimization and parameter identification of fuzzy set model. It concerns the fuzzy model-related parameters as the number of input variables, a collection of specific subset of input variables, the number of membership functions, and the apexes of the membership function. In the hybrid optimization process, two general optimization mechanisms are explored. The structural optimization is realized via HFCGA method whereas in case of the parametric optimization we proceed with a standard least square method as well as HFCGA method as well. A comparative analysis demonstrates that the proposed algorithm is superior to the conventional methods.

• 대한기계학회논문집A
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• 제32권4호
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• 한국정밀공학회지
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• 제30권12호
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• pp.1281-1286
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• 2013

In this paper, a miniaturized stage with two prismatic-prismatic joints (2-PP) type parallel compliant mechanism driven by piezo actuators is proposed. This stage consists of two layers which are a motion guide layer and an actuation layer. The motion guide layer has 2-PP type parallel compliant mechanism to guide two translational motions, whereas the actuation layer has two leverage type amplification mechanisms and two piezo actuators to generate forces. Since the volume of the stage is too small to mount displacement sensors, the piezo actuators embedding strain gauge sensors are chosen. With the strain gauge-embedded piezo actuators, a semi-control is implemented, which results in hysteresis compensation of the stage. As the results, the operating range of $30{\mu}m$, the resolution of 20 nm, and the bandwidth of 400 Hz in each axis were obtained in the experiments.

• Journal of Power Electronics
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• 제19권5호
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• pp.1326-1335
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• 2019

Common mode (CM) chokes are a crucial part in EMI filters for mitigating the electromagnetic interference (EMI) of switched-mode power supplies (SMPS) and for meeting electromagnetic compatibility standards. However, the parasitic capacitances of a CM choke deteriorate its high frequency filtering performance, which results in increases in the design cycle and cost of EMI filters. Therefore, this paper introduces a negative capacitance generated by a negative impedance converter (NIC) to cancel the influence of equivalent parallel capacitance (EPC). In this paper, based on a CM choke equivalent circuit, the EPCs of CM choke windings are accurately calculated by measuring their impedance. The negative capacitance is designed quantitatively and the EPC cancellation mechanisms are analyzed. The impedance of the CM choke in parallel with negative capacitances is tested and compared with the original CM choke using an impedance analyzer. Moreover, a CL type CM filter is added to a fabricated NIC prototype, and the insertion loss of the prototype is measured to verify the cancellation effect. The prototype is applied to a power converter to test the CM conducted noise. Both small signal and EMI measurement results show that the proposed technique can effectively cancel the EPCs and improve the CM filter's high frequency filtering performance.

• 한국정보과학회논문지:시스템및이론
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• 제29권10호
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• pp.539-549
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• 2002

PC클러스터 기반 정보 검색 시스템은 질의를 클러스터 상의 노드에 분산시켜 병렬로 처리함으로써 전체 시스템의 성능을 향상시킬 수 있다. 그러나, 노드 사이의 데이터 교환을 위하여 TCP/IP 기반 통신을 사용하는 것은 전체 시스템 성능 저하의 원인이 된다. 이를 해결하기 위해 개발된 것이 사용자 수준 통신(user-level communication)이다. 이것은 성능에 치명적인 영향을 미치는 커널 접근을 통신 단계에서 제거함으로써 적은 지연시간과 높은 대역폭을 제공한다. 본 논문에서는 사용자 수준 통신 방법의 업계 표준인 VIA(Virtual Interface Architecture)를 기반으로 한 효율적인 병렬 정보 검색 시스템을 제안한다. 본 논문의 정보 검색 시스템은 SCI(Scalable Coherent Interface) 기반의 VIA 방식, SCI 기반의 VIA/MPI 방식 그리고 Fast Ethernet 기반의 VIA/MPI 방식으로 구현되었으며 실험을 통하여 세 방식의 성능을 비교 분석하였다.

• BMB Reports
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• 제44권5호
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• pp.291-297
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• 2011

Aging is one of the most complicated biological processes in all species. A number of different model organisms from yeast to monkeys have been studied to understand the aging process. Until recently, many different age-related genes and age-regulating cellular pathways, such as insulin/IGF-1-like signal, mitochondrial dysfunction, Sir2 pathway, have been identified through classical genetic studies. Parallel to genetic approaches, genome-wide approaches have provided valuable insights for the understanding of molecular mechanisms occurring during aging. Gene expression profiling analysis can measure the transcriptional alteration of multiple genes in a genome simultaneously and is widely used to elucidate the mechanisms of complex biological pathways. Here, current global gene expression profiling studies on normal aging and age-related genetic/environmental interventions in widely-used model organisms are briefly reviewed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.