• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.686-690
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• 2012

The modal test has been carried out using the exciter machine to investigate the vibration characteristics of the hull and super structure of the ship. The conventional exciter acts only one(1) direction and the exciter should be reinstalled for different direction test, which consumes additional expense. The 3 axes exciter has been designed of which force acts three directions without reinstallation for efficient modal test of the ship. It consists of rotatable base frame structure and the clutch mechanism for the unbalances to excite three directions. And the 3 axes exciter for the local structure has been made in advance and its performance test was carried out in the laboratory. The developed 3 axes exciter shows the ability of three-directions excitation with simple operation and modal test for the various local structure of the ship will be performed.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2420-2422
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• 2004

In this paper, we developed a miniaturized humanoid having the new joint mechanism. In general, the high torque actuator and the joint mechanism having three coincided axes are important in development of the miniaturized humanoid. By using the swash plate, which is generally used in three axes rotor mechanism, we developed a new three-coincided-axes joint mechanism and a miniaturized humanoid having the joint mechanism at its hip and ankle joints. Since the joint mechanism has a pair of parallel drive motors for each axis, the driving torque of the joint mechanism is very high. Futhermore, thanks to the three-coincided-axes mechanism, the solution of the inverse kinematics is simple and computationally efficient, and the resulting walking behavior of the humanoid becomes natural.

• Proceedings of the IEEK Conference
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• summer
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.139-142
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• 2001

This paper presents a design of two gimbal system. One is two axes stabilized platform that is targeted to preserve direction while vehicle that is adhered antiaircraft fire, radar or EOTS is moving. The system maintains stabilization by recovering error using the rate gyro. The other is three axes gimbal system that is intended to simulate various angle movement in space and to test three axes gyroscope. This system determines gyro condition comparing gyro output value with converted motor encoder value.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.552-555
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• 1996

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.

• The Pure and Applied Mathematics
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• v.19 no.1
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• pp.1-5
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• 2012

We study surfaces of revolution in the three dimensional Euclidean space $\mathbb{R}^3$ with two distinct axes of revolution. As a result, we prove that if a connected surface in the three dimensional Euclidean space $\mathbb{R}^3$ admits two distinct axes of revolution, then it is either a sphere or a plane.

• Structural Engineering and Mechanics
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• v.53 no.5
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• pp.957-979
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• 2015

The present paper investigates the influence of the orientation of the ground-motion reference axes, the seismic incident angle and the seismic intensity level on the inelastic response of asymmetric reinforced concrete buildings. A single storey asymmetric building is analyzed by nonlinear dynamic analyses under twenty bi-directional ground motions. The analyses are performed for many angles of incidence and four seismic intensity levels. Moreover three different pairs of the horizontal accelerograms corresponding to the input seismic motion are considered: a) the recorded accelerograms, b) the corresponding uncorrelated accelerograms, and c) the completely correlated accelerograms. The nonlinear response is evaluated by the overall structural damage index. The results of this study demonstrate that the inelastic seismic response depends on the orientation of the ground-motion reference axes, since the three individual pairs of accelerograms corresponding to the same ground motion (recorded, uncorrelated and completely correlated) can cause different structural damage level for the same incident angle. Furthermore, the use of the recorded accelerograms as seismic input does not always lead to the critical case of study. It is also shown that there is not a particular seismic incident angle or range of angles that leads to the maximum values of damage index regardless of the seismic intensity level or the ground-motion reference axes.

• Fisheries and Aquatic Sciences
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• v.5 no.1
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• pp.36-42
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• 2002

Microarrayer is used to make DNA chip and microarray that contain hundreds to thousands of immobilized DNA probes on surface of a microscope slide. This paper shows the develop-ment results for a printing type of microarrayer. It realizes a typical, low-cost and efficient microarrayer for generating low density micro array. The microarrayer is developed by using a prependicular type robot with three axes. It is composed of a computer-controlled three-axes robot and a pen tip assembly. The key component of the arrayer is the print-head containing the tips to immobilize cDNA, genomic DNA or similar biological material on glass surface. The robot is designed to automatically collect probes from two 96-well plates with up to 12 pens at the same time. To prove the performance of the developed microarrayer, we use the general water types of inks such as black, blue and red. The inks are distributed at proper positions of 96 well plates and the three color inks are immobilized on the slide glass under the operation procedure. As the result of the test, we can see that it has sufficient performance for the production of low integrated DNA chip consisted of 96 spots within $1cm^2$ area.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.4
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• pp.905-910
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• 2008

In this paper, a circular motion table which is able to simulate movement of object is designed and the experiment of control system using circular motion table is presented. Circular motion table is consisted of three axes changed on length and of ball splines which keep vertical centre axis of circular plate. Variable length of three axes make circular plate incline as vertical centre axis is kept on vertical center axis of circular motion table. It is designed that control system drives three servo motor, that is, make change length of axis simultaneously or independently. And this paper presents example of flight simulation using circular motion table. it will contribute toward nurture expert manpower of aerospace/robotics to popularize circular motion table and make an experiment using it.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1994.10a
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• pp.33-43
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• 1994

A series of tensile tests have been performed to investigate the hardening behavior of rolled steel sheets. Tensile tests consist of three stages. At the 1st stage, full size tensile specimens were prestrained in the direction of rolling, then mid-sized tensile specimens were cut from the gauge sections of the full size specimens at angles to the rolling direction. At the 2nd stage, mid-sized specimens were prestrained by predetermined magnitudes of strains and miniature tensile specimens were prepared from each of the mid-sized specimens at every 10 degrees. At the final stage, from tests on miniature tensile specimens the hardening behavior of the prestrained sheets has been investigated. According to the experimental results, orthotropic symmetry is reserved during tensile elongation, and one of the orthotropy axes is continuously rotated to specimen axis. Existing theories seem to fail to explain the rotation of orthotropy axis. A new phenomenological model is proposed to explain the strain induced rotation of orthotropy axes.