• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 전기학회논문지
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• 제59권1호
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• pp.138-143
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• 2010

This paper presents the analysis, the fabrication and the test results of a micro passive gas pressure regulator to keep the outlet pressure costant even for a widely-varying inlet pressure. This device is to regulate the outlet pressure according to the applied reference pressure based on the pressure balancing mechanism of the structure including a membrane and a valve. This regulator consists of four layers; a bulk-micromachined silicon substrate, a sandblasted glass substrate, a PDMS valve seat layer and a glass valve layer. The device size is $10\times13\times1.7 mm3$. The device was fabricated by micromachining. The characteristic of the device was analyzed and tested. The characteristic of the fabricated pressure regulator is similar to that obtained from the analysis. The pressure regulator of this paper is feasible for portable systems and miniature drug delivery systems.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1941-1948
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• 2004

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.464-472
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• 2006

This paper presents the two degree-of-freedom (DOF) planar parallel mechanism, called the $2{\underline{R}}RR-RP$ manipulator, whose degree-of-freedom is dependent on an additional passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed: the inverse and forward kinematic problems are analytically solved, the workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters the optimization of the mechanism is performed considering its dexterity, stiffness, and space utilization. Finally, the kinematic performances of the optimized mechanism are evaluated through the comparison study to the conventional 5-bar parallel manipulator.

• The Journal of Korean Physical Therapy
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• 제12권3호
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• pp.433-444
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• 2000

The purpose is paper was to discuss current concepts related to anatomic stabilizing structures of the shoulder joint complex and their clinical relevance to shoulder instability. The clinical syndrome of shoulder instability represents a wide spectrum of symtoms and signs which may produce various levels of dysfunctions, from subtle subluxations to gross joint instability. The glenohumeral joint attains functional stability through a delicate and intricate interaction between the passive and active stabilizing structures. The passive constraints include the bony geometry, glenoid labrum, and the glenohumeral joint capsuloligaments structure. Conversely, the active constraints, also referred to as active mechanism, include the shoulder complex musculature, the projprioceptive system, and the musculoligamentous relationship. The interaction of the active and passive mechanism which provide passive and active glenohumeral joint stability will be throughtly discussed in this paper

• 대한기계학회논문집A
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• 제29권11호
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• pp.1509-1517
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• 2005

This paper presents the two degree-of-freedom(DOF) planar parallel mechanism called 2R$\underline{P}$R-RP manipulator, whose degree-of freedom is dependent on a passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed analytically: the inverse and forward kinematic problems are solved in the closed font the practical workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters and the operating limits of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness. Finally, the kinematic performances of the optimized mechanism are evaluated through comparing to the 5-bar parallel manipulator.

• 로봇학회논문지
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• 제12권1호
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• Childhood Kidney Diseases
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• 제9권1호
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• pp.1-7
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• 2005

The production of concentrated urine is achieved by countercurrent multiplication in the renal medulla. The single effect of the outer medulla is the active NaCl reabsorption in the thick ascending limb, while the single effect of the inner medulla is the passive efflux of NaCl through the thin ascending limb. The passive mechanism in the inner medulla requires a high interstitial urea concentration which is maintained by intrarenal recycling of urea. During the past decade, many transport proteins involved in the urine concentrating mechanism have been cloned, which has enabled us to understand the countercurrent multiplication mechanism on a molecular basis. This review will summarize the locations and functions of the renal medullary transport proteins, and the recent insights that have been acquired into the long term regulation of urea transporters.

• 동의신경정신과학회지
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• 제19권3호
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• pp.23-34
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• 2008

Objective: The purpose of this study was to investigate characteristics of the defense mechanism of oriental medicine students by using Ewha Defense Mechanism Test(EDMT) preliminarily. Method: We described the characteristics of the defense mechanism of oriental medicine students and compared the scores of EDMT with standard group. We analysed the differences of defense mechanism by sex (male, female) and age($\leq$29 and $\geq$30 yrs old) within oriental medicine students. The score of EDMT were verified by examination of one sample t-test and unpaired t-test. Results and Conclusions: First, there was no Major Defense Mechanism in oriental medicine students. Second, oriental medicine students had more defensive, passive inclination and used Evasion and Show-off more frequently. Third, the differences within oriental medicine students depended on age rather than sex. The younger students used immature and neurotic defense mechanisms more frequently, and the older students had more defensive and passive inclination.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1997년도 춘계학술발표회논문집(1)
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• pp.514-519
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• 1997

The MRX is an integral type ship reactor with 100 MWt power, which is designed by Japan Atomic Energy Research Institute. It is characterized by integral type PWR, in-vessel type control roe drive mechanism, water-filled containment vessel and passive decay heat removal system. Marine reactor should have high passive safety. Therefore, in this study, we simulated the loss of flow accident to verify the passive decay heat removal by natural circulation using RETRAN-03 code. auxiliary feed water systems are used for decay heat removal mechanism and results are compared with the loss of flow accident analysis using emergency decay heat removal system by JAERI. Results are very similar to case of EDRS 1 loop operation in JAERI analysis and decay heat is successfully removed by natural circulation.