• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.6
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• pp.9-19
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• 2002

An NAC(Natural Admittance Control) system design is presented for interaction controller that achieves high-performance and guarantees stability. The NAC can be classified as a particular flavor of impedance control similar to control schemes that have velocity compensator and force compensator. The NAC significantly improves the response characteristics when Coulomb friction is presented in One-link Robot System and guarantees stability when robot contacts with environment. Pragmatic rules for NAC synthesis are derived. It shows method to choose a target impedance for realizable force compensator. Important parameters are found experimentally. It is demonstrated, by the experimental result, that NAC algorithm is successful in rejecting Coulomb friction through velocity compensator and guarantees stability through force compensator. We implement an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the natural admittance controller to the One-link robot system, and show the good performance on desired force control in case of contacting with arbitrary environment.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.26 no.6
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• pp.580-593
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• 1993

The Tsushima Current has been known to branch out from the Kuroshio west of Kyushu and to flow north to the Korea Strait. Then, it has to flow across the isobaths and so needs some driving forces. As the forces, sea level difference between the Korea and Tsugaru Straits, Reynolds stress west of Kyushu and density differences have been suggested, In this paper, their roles have been numerically studied in the barotropic case. Model results show that the Tsushima Current is possible without any above force. The flows just follow isobaths over the East China Sea. They seem to be driven by their own dynamics without any external force. The mechanism is just like outflows from a gap. Model results also show that the flows in this area could be significantly affected by the external forces such as Reynolds Stress. Then the dynamics and flows in real ocean might be complicated. However, the barotropic study tells us that the Tsuahima Currents is basically driven by geostrophic adjustment.

• Journal of Korean Society of Steel Construction
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• v.13 no.2
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• pp.211-221
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• 2001

The dynamic force estimation and strength design of KALES(Korea Accelerated Loading and Environmental Simulator) are studied. The KALES is continuously rotating the test track and subjected to the dynamic or impact forces during operation since the track is composed of straight and curved line. To estimate the dynamic equation for the model car which was already made is derived with analytical and experimental techniques. Using similarity relationships between the model car and KALES, the dynamic force and stability properties for KALES can be predicted. The stress analysis and fatigue life estimation of KALES is also estimated with the calculated dynamic load. From the stress analysis and fatigue life estimation results, it was found that the design of KALES is safe.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.2
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• pp.139-143
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• 2010

Whiplash injuries often occur in motor vehicle collision accidents. This injury frequently occurs in the cervical region. However, the reason for this has not yet been clarified. In this study, a multi-body neck model with muscles was designed. Some muscles in the model were preloaded; these were previously determined using the concept of the follower load. Cervical spinal vertebrae, discs, and muscles were designed in accordance with the human cervical spine. The purpose of this study was to investigate the effect of preloads on muscles. The results imply that the whiplash model with preloaded muscles simulates practical situations more closely than models without preloads.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.4
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• pp.160-169
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• 1999

Linear pulse rootor (LPM) be suitable a field where smooth linear rootion of high precision is required, because it's structured with minute teeth pitch in airgap of between and stator and roover(forcer). Force and position of LPM are effected sensitively by the teeth pitch, air gap, permanent magnet and excitation current. So, LPM is much important to analyze the force characteristics. llis paper was awlied to perrreance roothed for force calculation at airgap. The airgap of LPM is maintained from the pressure generated by an air-bearing. Simplified airflow and permeance methods will be used to calculate the air gap under static conditions. Therefore, the maximum available force is then derived using the coenergy method with variable air gap, also normal force and linear thrust was acquired from variable minute displacement 1[mm]. 1[mm].

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.457-463
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• 2009

In this paper, a novel foot force distribution algorithm for hexapod walking robots is presented. The considered hexapod robot has fault-tolerant tripod gaits with a failed leg in locked-joint failure. The principle of the proposed algorithm is to minimize the slippage of the leg that determines the stability margin of the fault-tolerant gaits. The fault-tolerant tripod gait has a drawback that it has less stability margin than normal gaits. Considering this drawback, we use the feature that there are always three supporting legs, and by incorporating the theory of Zero-Interaction Force, we calculate the foot forces analytically without resort to any optimization technique. In a case study, the proposed algorithm is compared with a conventional foot force distribution method and its applicability is demonstrated.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.08a
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• pp.38-38
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• 2010

낮은 세기의 레이저와 정지한 전자가 반응하면 전자는 레이저 전기장 세기에 비례하여 가속되며 레이저의 파장과 같은 파장의 빛을 낸다. 반면, 레이저의 세기가 일정 수준을 넘으면 전자의 속도가 빛의 속도에 가까워지게 되어 가속이 둔화되는 현상이 나타나며, 더 이상 전기장의 세기와 가속도가 비례하지 않게 된다. 이러한 비선형적인 전자의 운동이 레이저 기본 파장의 조화파(harmonic)를 발생시키는데, 이를 상대론적 비선형 톰슨 산란(relativistic nonlinear Thomson scattering, RNTS)이라고 한다. 단일 전자를 가정한 경우 RNTS에 의해 아토초($10^{-18}$ 초) 길이의 X선 펄스가 발생하는 것이 시뮬레이션 연구를 통해 잘 알려졌다. [1] 그러나, 실제 실험에서 적용할 수 있는 것은 단일 전자가 아니라 고체, 플라즈마, 전자 빔 등의 전자 덩어리이다. 전자덩어리를 구성하는 각각의 전자가 아토초 펄스를 발생시더라도 각각의 펄스 간에 결맞음(coherence) 조건이 맞지 않으면 아토초 펄스는 발생되지 않는다. 또한, 강한 세기의 펄스를 얻는데도 결맞음은 중요하다. 이 연구에서는 결맞음 조건으로 얇은 타깃에 대한 거울 반사 조건, 즉 레이저가 얇은 타깃에 입사되며 거울의 반사 조건을 만족하는 위치에 검출기(detector)를 위치시키는 방법을 제안하였다. 박막이 충분히 얇을 경우 각각의 전자에 대하여 레이저가 발사되어 타깃에 맞고 검출되기까지의 시간이 거의 일치하게 된다. 거울 반사 조건에 의한 아토초 펄스 발생은 particle-in-cell 방법을 통한 시뮬레이션으로 검증되었다. 결맞음 조건을 위한 얇은 타깃으로는 박막과 나노선 배열(nanowire array)을 사용하였다. 전자들 간의 쿨롱(Coulomb) 힘은 결맞음이 유지되는 것을 방해하는데, 박막에 비해 나노선 배열이 쿨롱 힘의 영향을 적게 받기 때문에 결맞음이 더 잘 유지된다.

• Proceedings of the Korean Institute of Industrial Safety Conference
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• 1999.06a
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• pp.163-168
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• 1999

Post-Tensioning System은 강선(Strand)을 긴장하여 콘크리트 부재에 미리 압축력을 주어 응력을 도입시키기 위한 텐던(Tendon)과 정착구(Anchorage)의 조합체계로서 이루어진다. 여기서 텐던이란 와이어, 스트랜드, 바아등의 긴장재의 하나 혹은 여러개의 묶음을 의미하며, 정착구란 긴장된 텐던에 발생된 힘을 지탱하여 그 힘을 콘크리트에 전달해 주는 기계적 장치를 말하며 콘과 Wedge로 구성된다. (중략)

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.458-460
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• 2006

본 논문은 대면적 자기부상 스태이지의 정밀급 위치제어를 위한 시스템 구성 및 제어 알고리즘에 대한 연구결과를 기술한다. 자기부상 스태이지는 16개의 동기모터에 의해 구동되며, 각 모터의 Moving 부분에 수직방향의 힘과 수평방향의 힘을 모두 발생할 수 있도록 Halbach 구조로 되어 있다. Matlab/Simulink 모델링을 수행하였으며, Simulation 결과를 벼였다.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.896-897
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• 2015

본 논문에서는 IPM type BLDC 전동기의 진동 저감 방안에 대해서 연구하였다. 전자기적 진동 발생원 중 주된 요인이 되는 코깅 토크와 반경방향 힘의 불평형에 대해서 노치를 설치하여 코깅토크를 최소화한 모델과 반경반향의 힘인 가진력을 평형화한 모델의 설계를 수행하였다. 각 모델에 대한 주파수별 진동원을 분석하고 진동 실험의 결과와 비교하여 분석하여 그 타당성을 입증하였다.