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Shin, Kyoosik,Yi, Byung-Ju,Kim, Wheekuk Professional Engineering Publishing Ltd 2014 Proceedings of the Institution of Mechanical Engin Vol. No.
<P>Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are derived. After briefly addressing conditions for their constraint singularities, Grassmann–Cayley algebra is employed to identify parallel singularities. Then, employing Grassmann line geometry, the locations and the minimum number of redundant actuators are identified for the parallel mechanisms to have parallel singularity-free workspace. Three different types of 3-degree-of-freedom parallel mechanisms such as planar, spherical, and spatial parallel mechanisms are given as exemplary devices.</P>
Kang, Byung Ju,Shin, Kyoosik,Oh, Je Hoon IOP Publishing 2014 Japanese journal of applied physics Vol.53 No.5
<P>The paper aims to investigate the influence of bottom electrode configurations in all-inkjet-printed organic thin film transistors (OTFTs) on crystalline structures of semiconductor layers as well as the electrical performance of OTFTs. Two different types of all-inkjet-printed OTFTs were fabricated: one type with a new bottom-top contact configuration and the other type with a conventional bottom-bottom contact configuration. The crystal growth of semiconductor layer and the electrical characteristics of OTFTs were evaluated and compared between two different bottom electrode configurations. The resulting crystalline structures of semiconductor layers are mostly affected by the evaporation process of semiconductor layer. Randomly-oriented crystalline structures are generated in the semiconductor layer with a conventional bottom-bottom contact configuration due to irregular evaporation. However, a new bottom-top contact configuration leads to well-oriented crystalline structures because of controlled contact line movement. The average mobility of OTFTs with well-oriented crystalline structures is about 11 times as high as that with randomly-oriented crystalline structures. (C) 2014 The Japan Society of Applied Physics</P>
Development of a novel two-limbed parallel mechanism having Schönflies motion
Kim, Sung Mok,Shin, Kyoosik,Yi, Byung-Ju,Kim, Wheekuk Professional Engineering Publishing Ltd 2015 Proceedings of the Institution of Mechanical Engin Vol. No.
<P>This paper introduces a novel parallel mechanism having Schonflies motion. The mechanism consists of only two RRPaR-type limbs. After a short description of its structure, its position analysis is conducted and its screw-based kinematic model is derived. Next, its singularity analysis is performed via Grassmann line geometry and then its optimal kinematic characteristics are examined with respect to workspace size and isotropy property. The results show that the proposed parallel mechanism has a very high potential to be used as a manipulator or a haptic device. A prototype of this mechanism was developed and tested to corroborate its performance.</P>
Sensor-based navigation of a car-like robot based on Bug family algorithms
Kim, Dong-Hyung,Shin, Kyoosik,Han, Chang-Soo,Lee, Ji Yeong SAGE Publications 2013 Proceedings of the Institution of Mechanical Engin Vol.227 No.6
<P>This article presents a sensor-based navigation algorithm for 3-degree-of-freedom car-like robots with a nonholonomic constraint. Similar to the classical Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment by only using range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves toward the goal. To guarantee that the car-like robot can approach the goal, the two modes of motion are repeated, termed as motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal and the wall-following behavior makes the car-like robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the turning radius at each step. The proposed algorithm is implemented with a real robot and the experimental results show the performance of the proposed algorithm.</P>
백인혁(Inhyuk Baek),신규식(Kyoosik Shin),이승찬(Seungchan Lee),이재찬(Jaechan Lee),한용훈(Yonghoon Han) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Capstone design greatly improved engineering students’ design skill. However undergraduate capstone-design still has many aspects to be improved. One of the demerits are the way of organizing team members of the undergraduate capstone-design projects. Since most of all the members are from same department, the projects topics are about technology development. Therefore these kind of projects are some distance from real product development projects. The real product development should provide many methodologies with the team members. This paper explains what are the main factors to make these projects successful and its effects on education.
Kai Li,Le Bao,Changsoo Han,Kyoosik Shin,Wansoo Kim 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This work presents an online adaptive tracking control for a 4-wheel skid-steering mobile robot (SSMR). The objective is to develop an online kinematic model parameter estimation for an equivalent differential drive kinematic model, enabling motion control on the various terrains’ conditions. Combined with an equivalent differential drive kinematic model, the angular velocity of robot motion analyzed by the inertial measurement unit (IMU) sensor is used as the observation quantity, and the steering efficiency parameters in the kinematic model are automatically adjusted by a proportional derivative (PD) controller to improve the desired motion tracking control performance for the robot in the face of different terrains. The execution of tracking control is achieved by the SSMR with torque-adjusted 4-wheel independent velocity control. The proposed strategy is validated experimentally, where the SSMR performs the desired motion tracking in 10 sets with four types of terrains with different levels of flatness. The results demonstrate the high otential in overground navigation settings, due to its fast adaptation and motion following capacity.
일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행
소명뢰(Minglei Shao),신동익(Dongik Shin),신규식(Kyoosik Shin) 한국생산제조학회 2015 한국생산제조학회지 Vol.24 No.1
This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.
Kinematic modelling and configuration estimation for elastic wire using minimum sensors
Jeon, Jiun,Yi, Byung-Ju,Shin, Kyoosik,Kim, Wheekuk Professional Engineering Publishing Ltd 2015 Proceedings of the Institution of Mechanical Engin Vol. No.
<P>Configuration estimation of elastic wire has been confined to small-sized continuum bodies. This work aims at configuration estimation algorithm of general elastic wires using minimum number of information (i.e. two magnetic sensor and length of wire) with consideration of gravity load of the elastic wire. The elastic wire is modelled as a kinematically redundant manipulator with multiple links and joints. An optimization algorithm minimizing the potential energy of the elastic wire is employed. The performance of the configuration estimation algorithm is proven by comparison of simulation and experiment results.</P>
Lee, Jaemin,Choi, Kyungwook,Lee, Kihyung,Shin, Kyoosik SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.13
<P>A parametric study was conducted to determine the optimum operating conditions of a waste heat recovery system obtained from the exhaust gas. An analysis of the Rankine cycle was also performed with respect to the changes in the evaporation pressure and the mass flow rate of the working fluid, which have a significant influence on the performance of a heat recovery system. The analysis conditions in this study were selected on the basis of the mass production of an actual waste heat recovery system attached to a real engine exhaust manifold, and the energy flow obtained from gasoline engines was analysed using the first and second laws of thermodynamics. A model for analysing the heat exchanger was also developed using the experimental data on heat transfer between the actual exhaust gas and the working fluid. Based on this model, a cycle analysis of the waste heat recovery system was conducted through one-dimensional simulation. The optimum operating conditions and waste heat recovery system performance were determined from the analytical results. In addition, the potential of the heat recovery system was evaluated by investigating the brake specific fuel consumption of a gasoline engine equipped with a waste heat recovery system.</P>
Swing-Up Control Design for Spring Attatched Passive Joint Acrobot
Inhyuk Baek,Hyeonguk Kim,Seung Chan Lee,Soonwoong Hwang,Kyoosik Shin 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.10
This paper presents the conditions and PD controller to swing-up the Acrobot to which a spring is attached at the passive joint (first joint). Because the motion of the system is in the vertical plane, there are some system parameters associated with gravity. The range of a spring constant and controller gain that allow the PD controller to swing-up the system is defined depending on these parameter values. To prove that the PD controller makes the system approach the equilibrium points, one of which is swing-up state (upright equilibrium point, UEP), the motion of the first link is analyzed according to the motion of the second link and the torque on the active joint (second joint) with an actuator. Among these equilibrium points, the conditions that can only converge to the UEP of the system are found.