• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1131-1135
• /
• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• Journal of the Korean Society for Precision Engineering
• /
• v.1 no.2
• /
• pp.24-32
• /
• 1984

The object of the study is to discuss the effect of magic ink as a surface active substance on the mechanism of chip formation in oblique cutting. The Rehbinder effect has been known as a phenomenon that the mechanical strength reduces when the metal is coated with some surface active substances. In order to interpret these surface effects defined by Rehbinder, the influence on the shear strength of shear plane by coating surface active substances, cutting force by the depth of cut, surface roughness and hardness ratio were observed. The results are as follows: 1. By coating the magic ink on free surface of the forming chip, the effective shear angle increases, and the cuttinbg force and the deformed chip thickness decreases. 2. With the large inclination angle the effective shear angle increases, and the specific cutting force and the friction angle decrease. 3. Cutting of the coated surface improves the surface roughness and the hardness ratio drops, which means another Rehbinder effect.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2003.04a
• /
• pp.403-410
• /
• 2003

A new semiactive control strategy for seismic response reduction using a neuro-controller and a magnetorheological (MR) fluid damper is proposed. The proposed control system adopts a clipped algorithm which induces the MR damper to generate approximately the desired force. The improved neuro - controller, which was developed by employing the training algorithm based on a cost function and the sensitivity evaluation algorithm replacing an emulator neural network, produces the desired active control force, and then by using the clipped algorithm the appropriate command voltage is selected in order to cause the MR damper to generate the desired control force. The simulation results show that the proposed semiactive neuro-control algorithm is quite effective to reduce seismic responses. In addition, the semi-active control system using MR fluid dampers has many attractive features, such as the bounded-input, bounded-output stability and small energy requirements. The results of this investigation, therefore, indicate that the proposed semi-active neuro-control strategy using MR fluid dampers could be effectively used for control of seismically excited structures.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.452-457
• /
• 2000

This paper presents control response of a semi-active electro-rheological(ER) suspension. After showing dynamic characteristics of the ER damper, 1/4 car model is formulated by incorporating with the time constant of the damping force. $H_{\infty}$ controller compensating mass and time constant uncertainties is then designed in order to suppress vibration level of the suspension. The control responses such as vertical acceleration are presented.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.6
• /
• pp.1402-1406
• /
• 2005

A study on the vehicle stability is discussed. In the field of the studies the electronic control systems help overcoming the limit of improvement in vehicle performance with the methods above. Driving stability is mainly incorporated with the later motion of a vehicle generated by the driver's steering input. Recently VDC system has been studieed in order to improve the active stability. This VDC system uses the active braking force. This paper propose the ATC that uses driving force. This paper compared VDC with ATC through an experiment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2003.11a
• /
• pp.47-55
• /
• 2003

This paper Presents active control algorithm using probability density function of structural energy. It is assumed that the structural energy under excitation has Rayleigh probability distribution. This assumption is based on the fact that Rayleigh distribution satisfies the condition that the structural energy is always positive and the occurrence probability of minimum energy is zero. The magnitude of control force is determined by the probability that the structural energy exceeds the specified target critical energy, and the sign of control force is determined by Lyapunov controller design method. Proposed control algorithm shows much reduction of peak responses under seismic excitation compared to LQR controller, and it can consider control force limit in the controller design. Also, chattering problem which sometimes occurs in Lyapunov controller can be avoided.

• Journal of the Korean Physical Society
• /
• v.73 no.10
• /
• pp.1410-1419
• /
• 2018

A skier's motion was analyzed by a simple model consist of point mass m and a single rod connected to a single ski plate. We studied the conditions for the stable ski turn as functions of the linear velocity and the radius of the turn. The solutions for the stable ski turn in our model do not require any extra skier's movement to complete a stable circular turn. The solution may then give the skier the most comfortable skiing method without any active movement to control the ski. The generalized force supporting the point mass from the ski plate was calculated. We obtained the force from the ground (rebound force) without any geometrical structure of the ski plate. Adding an active movement to the direction of the ski plate, the conditions for the stable ski turn were also analyzed. Our result gives some insight for the skier who wants to develop technique.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.228-230
• /
• 2005

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters. and electromagnetic actuators.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.11
• /
• pp.791-800
• /
• 2022

The number and locations of force generators and their force directions of Active Vibration Control System(AVCS) are important to maximize the airframe vibration reduction performance of helicopters. The present AVCS simulation using an exhaustive test method attempts to determine the best number and locations of force generators and their force directions for maximization of the airframe vibration reduction performance of UH-60A helicopter at 158 knots. The 4P hub vibratory loads of the UH-60A helicopter are calculated using DYMORE II, a nonlinear multibody dynamics analysis code, and MSC.NASTRAN is used to predict the vibration responses of the UH-60A airframe. The AVCS framework with an exhaustive test method is constructed using MATLAB Simulink. As a result, when applying AVCS with the optimal combination of the force generators, the 4P airframe vibration responses of UH-60A helicopter are reduced by from 19.35% to 98.07% compared to the baseline results without AVCS.

• Korea journal of population studies
• /
• v.13 no.2
• /
• pp.1-18
• /
• 1990

This is a study which attempt to analyze changing patierns of economic active popu-lation, t o estimato- future patterns, and exa- mine vartons problems arises by changing c ire u mst ances of t he labor force market in- clunging soici al, economic ic, heathl th and demoi-graph ic aspects. We have constructed series of wotking life table which are useful in syt uiolyioig the lirocess of growth and structural change of labor force. Work i ng life tables represent ihie life eyele of econrmic' activity in hi ypothetical cohorts, that is. gen-erat i on of men Sn bject at eat' b period ot f their lives th given ra to's o mor tali it y and of par-- tici pation in economic activities. The tabloes prot' ide measorues of the alvet'age he ng t able of economically aeti \- e life. and agespecific rates of en trannee' into and retirement from the hahn' force. In const routing working life tables, age-specific activity rates and life tabole popula- titoto which represents contemporary condi-tions of moortality in Korea au'e the basic' maltoerials. We have derived the age-specific rates foorm economically active population survey, whoich were conducted by the Bureau of Statistics, Economic Planning Borard of the Korean government. Working life tables are constructed for men wtable these materi- als in the year of 1970, 1980 and 1988 by a modified Wolfbein-Wool's method. Some of the findings may be summerized as follow : 1) A central part of constructing working life table is calculation of stationary' economic active population, which represents the number of men in the stationtary population extoected to be in the labor force at each age group in the life span. The stationary economic active population by age have generally a universal pattern, where they rise sharply in the early twenties, approach its' peak in the thirties decline thereafter. at first graolually and then more rapidly at an advanced age. Korean men show the same general pa ttern of age distribution of stationary eco-- nomic active population with sharp increase hegining from the age interval of 20 to 24, reaching to maximum level at older age. The population. however, presumably, increased substantially due to increaseing school atte endance rates. Another difference exiSts in the youngest age groups, that is the activity rate in the year of 1988 is lower than that of Japan. The table shows an analysis of changes in the age distrihution of labor force between 1970, 1980 and 1988. 2) It was shown an analysis of changes in the age distribution and cause of separation from labor force. The entrance rate to labor force has increased from 18~\5 persons to 299 persons per 1000 head of stationary population between that of 1980 than that of 1988 for Korean men in 20~24 age group. The entrace rate to labor force shows a rapid entrance appearance concentrated on the 15~24 age group. The separation rate from labor force by retirment in Korea in the year of 1988 shows a great difference of the about four times as much as that of Japan. 3) The functions of table illustrate the patterns of working life of males in Korea in 1970, 1980 and 1988. The average remaining number of economically active years, e at age 15 in 1988 is 46.39 which is 2.12 years of increase compared with that of at age 15 in 1970,1980 and 1988 are 43.90,44.27 and 46.39 respectively, showing steadily increase dur- ing the past double decade the increase in the length of economically active life various age may be considered to have come both from extention of general life expectancy and from increasing entrance rate to economic activity in high age that of working is far greater in 1988 than that of 1980. The gaps between expectation of life and average remaining years of economically active widened due to rapid improvement of mortality level in Ko- rea. This observation together with the population pressure by the appearance of a group of younger population implies that constant increase of economically inactive population among older age group.