• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.10a
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• pp.377-383
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• 2011

This paper reports the filtered velocity feedback (FVF) controller to reduce the acoustic power from clamped beams. The instability problem due to the non-collocated sensor/actuator configuration when using PZT actuator should be resolved. The roll-off property of the FVF controller at high frequency helps to alleviate the instability. The dynamics of clamped beams under forces and moments pair and the FVF controller are first formulated. The formulation of the sound radiated power is followed. The open loop transfer function (OLTF) synthesized with 100 modes is used to determine the stability of the control system. The control performance is finally estimated. The levels of the vibration and the sound radiated power are reduced in the wide band below the tuning mode of the FVF controller.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.3
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• pp.26-37
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• 1998

In this study, the motion control techniques allied to the test ship NARAE are summarized and the results of sea trials are resented. NARAE adopted a hybrid hull form with lower hull and submerged foils. This type of ship has a substantial instability in heave, pitch and roll modes at the foil-borne stage due to little restoring force, so an active control is indispensable to keep the stability. 4-hydraulic actuators with servo valves were installed to drive foils, and several sensors were used to measure the motion of the ship. PID controller was adopted as a motion controller, and for the real-time control, Pentium-class industrial PC was used. Sea trials including take-off, landing, and banked turn maneuvering were carried out for a period of over 3 months and quite satisfactory results were obtained.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1205-1212
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• 2021

Robots that can actually help people a lot by dealing with dangerous tasks that are difficult for people to do, such as disaster situations, lifesaving, handling dangerous goods, and reconnaissance of dangerous areas, continue to become an issue. Therefore, in this paper, we intend to implement a mobile robot arm that can implement a human motion will on the robot arm to enable active response according to the situation and control the vehicle according to hand movements to give mobility. A controller is manufactured using a flex sensor and agyro sensor, and the roll and pitch values of the two gyro sensors are adjusted to control the angle of the robot arm and specify the vehicle direction. In addition, by designating the levels of the three flex sensors, the motor is operated according to hand movements, and a robot arm is implemented so that objects can be picked up and moved.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.2
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• pp.113-120
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• 2011

Fins are widely used for roll stabilization of passenger ferries and high performance naval ships, among others. The Coanda effect is noticeable when a jet stream is applied tangentially to a curved wing surface since the jet can augment the lift by increasing the circulation. The Coanda effect has been found useful in various fields of aerodynamics and speculated to have practical applicability in marine hydrodynamics where various control surfaces are used to control motions of ships and the other offshore structures. In the present study, numerical computations have been performed to find proper jet momentum coefficients $C_j$ and trailing edge shapes suitable for the application of the Coanda effect to a stabilizer fin. The results show that the lift coefficient of the modified Coanda fin at the zero angle of attack ${\alpha}$ identically coincides with that of the original fin at ${\alpha}\;=\;25^{\circ}$ when Coanda jet is supplied at the rate of $C_j$ = 0.1. It is also shown that a fixed type fin stabilizer utilizing the Coanda effect can be implemented without changing the fin angle to actively control the motions of ships and the other offshore structures.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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• pp.913-922
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• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.142-147
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• 2003

This paper is concerned with the experiment of vibration isolation device whit can cope with heave, pitch and roll type vibrations. This new device consists of S-shaped piezoceramic actuators supporting each corner of the plate. Small piezoceramic sensors are located at the middle of each side. This paper also presents the development and the movement of the system. The active control technique was also developed to cope with base excitation. Experimental results show that vibrations can be reduced by the new device in the case of base excitation of harmonic type.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.4
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• pp.601-606
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• 1994

This paper describes the effect of elongation on electrical properties and molecular structrue of high density polyethylene. Thin polyethylene films films obtained dy roll elongation after extruded at 220$^{\circ}C$ and elongated to draw rations of 16. Crystallinity of polyethylene films was measured by X-Ray diffraction and electrical properties were estimated by conductivity and TSC(Thermal Simulated Current). It was foung that the crystallinity increases and the electrical conductivity decreases as the elongation increases. The elongation dependence of electrical conductivity may be explained by the trap density. Thus, the control of polymer structure and crystallinity makes its properties better and can be applicated in order to get more active properties.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.4
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• pp.57-66
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• 2013

PURPOSE: The purpose of this study was to investigate the effects using pressure biofeedback and teaching abdominal hollowing exercise on pelvic stabilization during the active straight leg raising test. METHOD: The subjects were divided into 3 groups who were fourty eight healthy participants, aged 20~25 years recruited for this study. First group wad control group. This group didn't any education. Second group was teaching them for a week. And last group was teaching abdominal hollowing exercise. The rotation angles of pelvic were measured by the motion anayalyser on flat surface and on form roll for the active leg raising. RESULT: Using pressure biofeedback and teaching abdominal hollowing exercise groups were significantly effective than control group in rotation angles of pelvis. And using pressure biofeedback group was more effective than teaching core stability muscles contraction group. CONCLUSION: This study suggested that patients with low back pain and pelvic instability can improve pelvic stabilization through pressure biofeedback and teaching abdominal hollowing exercise.

• Journal of Oral Medicine and Pain
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• v.40 no.3
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• pp.115-123
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• 2015

Purpose: The aim of this study was to elucidate the coordination patterns of the sternocleidomastoid and posterior cervical muscles in response to symmetrical and asymmetrical jaw functions in normal adults. Methods: Twenty-seven healthy volunteers (8 females, 19 males; mean age, $30.4{\pm}2.5$ years) participated in this study. Surface electromyography (EMG) was used to record activities in the masseter, suprahyoid, sternocleidomastoid, and posterior cervical muscles at rest and during maximum tooth clenching, biting of a cotton roll with the anterior teeth, unilateral biting of a cotton roll with the posterior teeth, bilateral biting of cotton rolls with the posterior teeth, and jaw opening while seated. Normalized amplitude, activity indices, and asymmetry indices were compared between the muscles and the jaw tasks. Results: During symmetrical jaw functions (e.g., tooth clenching, biting with the anterior teeth, bilateral biting with the posterior teeth, jaw opening), the sternocleidomastoid and posterior cervical muscles showed elevated EMG amplitudes compared with the resting condition. The co-activation pattern of the sternocleidomastoid muscle was more pronounced than those of the posterior cervical muscles during these tasks. During asymmetrical jaw functions (e.g., unilateral biting with the posterior teeth), the ipsilateral sternocleidomastoid and masseter muscles showed higher contraction activity than did the contralateral muscles, but the contralateral posterior cervical muscles were more active than the ipsilateral muscles. Conclusions: The sternocleidomastoid and posterior cervical muscles were shown to be co-activated and coordinated anteroposteriorly or bilaterally according to symmetrical or asymmetrical jaw function. These results suggest an integrated neural control mechanism for the jaw and neck muscles, and provide further evidence supporting the intimate functional coupling between the trigeminal and cervical neuromuscular systems.