• Journal of Sensor Science and Technology
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• v.16 no.3
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.773-774
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• 2006

Nowadays, the global interests are concentrated on the preserving of the clean environment, and the diminishing of the dependence on the fossil energy, and among the possible alternative energies, the wind turbine generating system is considered to be the best suited to produce high efficiency energy, without affecting the natural environment. The permanent magnet generators were been used for the wind power generating, for long time, with continuous efforts to improve the generating efficiency. And the latest trend on it is to develop an AFPM(Axial Flux Permanent Magnet)type, which is composed in the structure of rotor and stator shaped in the disc forms, and the direction of the flux at the air gap runs in parallel to the shaft. This thesis is on the study concerning with the analysis of the characteristics of the 5 kW at 300rpm direct drive AFPM generator which is suitable for the small scale wind turbine generating system. In it, the Electro-magnetically Coreless AFPM was been analyzed, the prototype generators been made, concentrated on interpreting the characteristics of the power output, and verifying it through the theoretical study and practical tests.

• Nuclear Engineering and Technology
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• v.52 no.11
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• Bulletin of the Society of Naval Architects of Korea
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• v.22 no.1
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• pp.9-20
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• 1985

Generally the stiffened plate in the ship structure is subjected to not only axial load but shear load. With respect to those combined loads buckling analysis in necessary. In this paper, buckling strength is analyzed by using Finite Element Method when the stiffened plate with hole is under loading conditions mentioned above. To obtain the higher buckling strength, we need some reinforcement. The methods of reinforcement are attaching doubler around hole and stiffeners in the arbitrary directions For the sake of convenience those arbitrary directions were selected paralleled($0^{\circ}C$), vertical($90^{\circ}C$)and oblique($45^{\circ}C$) to the edge. Two kinds of method mentioned above are investigated, it is clarified that which of the two is more effective reinforcement. From the viewpoint of buckling strength, following conclusions were obtained. When external load direction is unknown, doubler reinforcement is more effective than those of parallel and vertical stiffener. And oblique stiffener reinforcement is more effective than that of doubler when external load direction is know.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.174-179
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• 1999

A binary parallel robot manipulator uses actuators which have only two stable states and is structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has the following advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators, it is very difficult to solve an inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem when the number of actuators are too much or the target position is located outside of workspace. The backbone curve is generated optimally by considering the curvature of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criteria.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.345-356
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• 2016

The purpose of this study was to develop a scale to evaluate the safety competency of perioperative nurses and to examine its validity and reliability. The research process included the development of preliminary items through literature reviews and the construct validity examination of the conceptual framework for the preliminary scale. The content validity of the identified items was evaluated by experts, resulting in 30 preliminary items. The participants involved in testing the validity and reliability of the preliminary scale were 377 perioperative nurses. The data were analyzed using exploratory factor analysis, parallel analysis, confirmatory factor analysis, and internal consistency. To verify the construction factor of the preliminary scale, exploratory factor analysis and parallel analysis were performed, resulting in 3 factors and 27 items. The internal structure of the scale was schematized using confirmatory factor analysis and the goodness of fit of the final research model was very appropriate, as shown by the values of TLI=.90, CFI=.91, RMSEA=.07, and SRMR=.07. The final scale consisted of 27 items and 3 factors including knowledge (6 items), skill (13 items), and attitude (8 items). Cronbach' ${\alpha}$ for the final scale was .94, showing good internal consistency. This safety competency scale can be used for assessing the competency of perioperative nurses regarding patient safety, for developing patient safety studies and for the career development of perioperative nurses.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.4A
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• pp.464-470
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• 2000

In this paper, we introduce a modified interference cancellation scheme to overcome MAI(Multiple Access Interference) in DS-CDMA. Among ICs(Interference Cancellers), PIC(Parallel Interference Canceller) requires the more stages to have the better BER(Bit Error Rate), and SIC(Successive Interference Canceller) faces the problems of power reordering and large delays. To resolve the problems of them, we propose a modified interference cancellation scheme combining SIC and PIC. The proposed interference canceller has improved the performance through the total received signal applied sorting method is fed into the initial stage. Its structure extracts the good characteristics because of the input signal removed MAI in the initial stage. The characteristics of the proposed system are as follows (1) smaller delay, and the strongest user signal is also reduced to MAI(unlike SIC), (2) it has the good BER performance only using fewer stages (unlike PIC).

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.1
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• pp.131-141
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• 2007

This paper proposes analysis on new equipment for power quality in electric railway. The proposed equipment consists of series inverter and parallel inverter. Each inverter is connected by capacitor as dc link. This structure can be compensated for active and reactive power in catenary through transformer. We verified the proposed equipment using the PSCAD/EMTDC and the calculation results from the proposed approach are widely described in the paper.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.14 no.10
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• pp.1030-1035
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• 2003

In this paper, we compare the performance of IS-OFDM(interference suppressing orthogonal frequency division multiplexing) system with that of the conventional OFDM system. Each parallel branch symbol of IS-OFDM is multiplied by the orthogonal sequence and distributed into all sub-carriers. Then, each sub-carrier transmits information composed of the symbol components of all parallel branches in the given frame. The structure of IS-OFDM shows the frequency diversity characteristic. Therefore, IS-OFDM can be robust to the narrowband interference. BER performances are found in the narrow-band interference and a harmonic noise channels. When JSR(Jamming to signal ratio) increases from -10 dB to +10 dB in the constant interference bandwidth, IS-OFDM outperforms the conventional OFDM and the BER difference between IS-OFDM and OFDM is reduced as JSR increases. Also, the similar properly can be shown when interference bandwidth increases at the constant JSR. In the harmonic noise channel, we can find the good performance of IS-OFDM when the h-rate(harmonic noise bandwidth to signal bandwidth ratio) increases from 0.01 to 0.8. So, simulation results show that the IS-OFDM is more robust to the interference than the conventional OFDM.

• Economic and Environmental Geology
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• v.36 no.6
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• pp.491-499
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• 2003

The Okinawa Trough is a rift basin formed by extension. Analysis of multichannel seismic reflection profiles from the northwestern margin of the northern Okinawa Trough reveal that the trough is characterized by a series of tilted fault blocks bounded by listric normal faults and half-grabens developed between blocks, showing typical rifted structures. The trough display three kinds of sedimentary sequences with different seismic reflection characteristics: prerift, synrift and postrift sediments. The prerift sequence develops parallel to the dip direction of tilted fault blocks. The synrift sediments, mostly deposited in the half-grabens between tilted fault blocks, are generally well characterized by divergence of the reflectors towards the blocks indicating contemporaneous deposition during tilting. The postrift sediments are featured by continuous and parallel reflectors. The width of the half-graben and the throw-displacement rate of the basin bounding fault are closely connected. The throw-displacement rate is the maximum when the rifting event is the most active and the width of the half-graben is proportional to the rate.