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Design and Analysis of Decoupled Parallel Mechanism with Redundant Actuator
김선호,김선호,전동수,신현표,인우성,김종원 한국정밀공학회 2009 International Journal of Precision Engineering and Vol. No.
This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.
김선호,Kim Sun-Ho 한국문헌정보학회 1992 한국문헌정보학회지 Vol.22 No.-
The purpose of this study is to verify the correlations between the amount of the online searcher's search experience and their search effect. In order to achieve this purpose, the 28 online searchers working at the chosen libraries and information centers have participated in the study as subjects. The subjects have been classified into the two types of cognitive style by Group Embedded Figure Test. As the result of the GEFT, two groups have been identified: the 15 Field Independance ( FI ) searchers and the 13 Field Dependance ( FD ) searchers. The subject's search experience consists of the 3 elements: disciplinary, training, and working experience. In order to get the data of these empirical elements, a questionnaire have been sent to the 28 subjects. An online searching request form prepared by a practical user was sent to all subjects, who conducted searches of the oversea databases through Dialog to retrieve what was requested. The resultant outcomes were collected and sent back to the user to evaluate relevance and pertinence of the search effect by the individual. In this study, the search effect has been divide into relevance and pertinence. The relevance has been then subdivided into the 3 elements : the number of the relevant documents, recall ratio, and the cost per a relevant document. The relevance has been subdivided into the 3 elements: the number of the pertinent documents, utility ratio, and the cost per a pertinent document. The correlations between the 3 elements of the subject's experience and the 6 elements of the search effect has been analysed in the FI and in the FD searchers separately. At the standard of the 0.01 significance level, findings and conclusions made in the study are summarised as follows : 1. There are strong correlations between the amount of training and the recall ratio, the number of the pertinent documents, and the utility ratio on the part of FI searchers. 2. There are strong correlations between the amount of working experience and the number of the relevant documents, the recall ratio on the part of FD searchers. However, there is also a significant converse correlation between the amount of working experience and the search cost per a pertinent document on the part of FD searchers. 3. The amount of working experience has stronger correlations with the number of the pertinent documents and the utility ratio on the part of FD searchers than the amount of training. 4. There is a strong correlation between the amount of training and the pertinence on both part of FI and FD searchers.
김선호 한국문헌정보학회 2002 한국문헌정보학회지 Vol.36 No.2
In Web-based libraries, their RRS(Ready Reference Sites) provide their users with various web documents. And their users prefer finding web documents easily, rapidly and accurately. Focused on their preference, Web designers or librarians working with the RRS should design the access path simply and conveniently. Concerning the design of the RRS in the Web-based library, 216 kinds of alternatives are identified as the result of the study. When Web designers or librarians will improve or design their RRS, some of these alternatives might be helpful as the primary sources. 웹 의존형 라이브러리의 RRS를 이용하는 이용자는 자신이 선택한 웹 문서에 신속하게 그리고 정확하게 접근하기를 원한다. 이용자의 이러한 요구는 RRS의 디자인과 밀접한 관계를 갖고 있으며, 간단하게 사용하고 편리하게 접근할 수 있는 구조를 가진 최적의 RRS 디자인은 이용자 뿐만 아니라 도서관에도 커다란 도움을 줄 수 있을 것이다. 이 글에서는 웹 의존형 라이브러리의 RRS 유형과 관련해서, 216가지의 대안을 제시하였다. 웹 디자이너나 사서가 RRS를 새롭게 또는 갱신하고자 할 경우에, 이러한 대안들은 기초 자료로서 많은 도움을 줄 것이다.