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병렬로봇의 설계 공차가 궤적 정밀도에 미치는 영향 분석
박찬훈,박동일,김두형 한국로봇학회 2016 로봇학회 논문지 Vol.11 No.4
Machining error makes the uncertainty of dimensional accuracy of the kinematic structure of a parallel robot system, which makes the uncertainty of kinematic accuracy of the end-effector of the parallel robot system. In this paper, the tendency of trajectory tracking error caused by the tolerance of design parameters of the parallel robot is analyzed. For this purpose, all the position errors are analyzed as the manipulator is moved on the target trajectory. X, Y, Z components of the trajectory errors are analyzed respectively, as well as resultant errors, which give the designer of the manipulator the intuitive and deep understanding on the effects of each design parameter to the trajectory tracking errors caused by the uncertainty of dimensional accuracy. The research results shows which design parameters are critically sensitive to the trajectory tracking error and the tendency of the trajectory tracking error caused by them.
박찬훈,최재환,경명옥,서승우,조성은,이경선,김풍호,Nien-Hwa Linda Wang,정상원,문성용 한국공업화학회 2017 Journal of Industrial and Engineering Chemistry Vol.47 No.-
Xylobiose (X2) is recognized to possess great prebiotic function and to be highly favorable for applicationin food and prebiotic industries. In this study, we demonstrated that the cloned b-xylosidase of Bacilluspumilus IPO could be utilized to produce X2 via the reaction of xylose(X1)!xylobiose(X2). The use ofsuch enzyme in the X1!X2 reaction was found to give much higher X2 reaction yield and reactionefficiency, compared to those reported in the literature. Furthermore, we developed an efficientsimulated moving bed (SMB) chromatographic process that could recover X2 from the reaction outputwith nearly 100% purity and 92% recovery on a continuous-separation mode. The developed SMB processcould also recover the unreacted X1 almost completely, which leaves room for a further increase in theoverall X2 reaction yield by reusing the recovered X1 from the SMB as the reactant of the upstreamprocessing (i.e., B. pumilus IPO b-xylosidase X1!X2 reaction). The results of this study will enable ahighly economical and environmentally-friendly production of high-purity X2 from X1.
OFDM 기반의 WLAN을 지원하는 디지털 IF단 설계
박찬훈,신동우,최연경,양훈기,양성현,박종철,Park, Chan-Hoon,Shin, Dong-Woo,Choi, Youn-Kyoung,Yang, Hoon-Gee,Yang, Sung-Hyun,Park, Jong-Chul 한국정보통신학회 2011 한국정보통신학회논문지 Vol.15 No.8
본 논문에서는 OFDM 기반의 WLAN을 지원하는 Digital IF 단을 설계하고 시뮬레이션을 통해서 시스템 성능을 조사한다. 이를 위해서 ADC 샘플률, NCO 주파수 및 데시메이션률 결정과정을 보이고 주워진 데시메이션률을 얻기 위한 CIC필터 및 MHBF 설계과정을 제시한다. 데시메이션 과정에서 발생되는 진폭왜곡 보상을 위해 시스템 복잡도를 최소화하면서 요구성능을 만족시키는 ISOP 필터 및 FIR 필터를 설계하는 과정을 제시한다. 최종적으로 설계된 DDC 블록에 대해서 BER 관점으로 성능을 조사한 후 이론적인 변복조 시스템과의 성능 차이를 보인다. In this paper, we propose the design procedure of a digital IF system for the OFDM based WLAN system and examine its performances. Along with the decision procedure of ADC sample rate, NCO frequency and the required decimation ratio, we show the decimation ratio is accomplished through the use of a CIC filter and a MHBF. We also show that the amplitude distortion occurred in the decimation filters can effectively be compensated by a ISOP filter and an additional FIR filter, which leads to the reduction of the overall hardware complexity. Finally, we examine the BER performance of the proposed system and compare it with a theoretical one that excludes filter non-linearities.