• 한국정밀공학회지
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• 제34권2호
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• pp.107-114
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• 2017

In this investigation, we describe a metrological technique for surface and thickness profiles of a silicon (Si) wafer by using a 6 degree of freedom (DOF) stitching method. Low coherence scanning interferometry employing near infrared light, partially transparent to a Si wafer, is adopted to simultaneously measure the surface and thickness profiles of the wafer. For the large field of view, a stitching method of the sub-aperture measurement is added to the measurement system; also, 6 DOF parameters, including the lateral positioning errors and the rotational error, are considered. In the experiment, surface profiles of a double-sided polished wafer with a 100 mm diameter were measured with the sub-aperture of an 18 mm diameter at $10\times10$ locations and the surface profiles of both sides were stitched with the sub-aperture maps. As a result, the nominal thickness of the wafer was $483.2{\mu}m$ and the calculated PV values of both surfaces were $16.57{\mu}m$ and $17.12{\mu}m$, respectively.

• 한국소음진동공학회논문집
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• 제15권2호
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• pp.135-147
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• 2005

As automobile technology advances, a smoother ride with less noise is desired. In order to achieve these purposes, a study on the vibration and noise produced by a moving automobile was carried out and a model for tire vibration characteristics which influence the ride performance was developed. The model was verified through simulations and experiments. The developed model was then applied to a half car model and automobile vibrations were analyzed. The effects of tire design parameters on the automobile vibration energy were investigated. The results from laboratory and field tests confirm the validity of the analytical model. The 17-DOF half-car model was built to analyze automobile vibration. The characteristics of the nonlinear model for a shock absorber were applied to this model. The results from the present 17-DOF half car model incorporating the analytical tire model with tire design parameters, were compared with the 5-DOF half car model where the tire was modeled with linear springs. The results of the 17-DOF model are close to the experimental results. Using the 17-DOF model, the influence of tire design parameter were considered. According to the analysis results, the vibrations at seat/body/wheel were predicted by simulation and experiment.

• Coupled systems mechanics
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• 제8권4호
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• pp.351-375
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• 2019

The present work investigates the use of a rigid rocking block as a tool to reduce vibrations in a frame structure. The study is based on a simplified model composed by a 2-DOF linear system, meant to represent a general M-DOF frame structure, coupled with a rocking rigid block through a linear visco-elastic device, which connects only the lower part of the 2-DOF system. The possibility to restrain the block directly to the ground, by means of a second visco-elastic device, is investigated as well. The dynamic response of the model under an harmonic base excitation is then analysed in order to evaluate the effectiveness of the coupling in reducing the displacements and the drift of the 2-DOF system. The nonlinear equations of motion of the coupled assemblage 2-DOF-block are obtained by a Lagrangian approach and then numerically integrated considering some reference mechanical and geometrical quantities as variable parameters. It follows an extensive parametric analysis, whose results are summarized through behaviour maps, which portray the ratio between the maximum displacements and drifts of the system, with and without the coupling with the rigid block, for several combinations of system's parameters. When the ratio of the displacements is less than unity, the coupling is considered effective. Results show that the presence of the rocking rigid block improves the dynamics of the system in large ranges of the characterizing parameters.

• Journal of Power Electronics
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• 제19권1호
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• pp.119-133
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• 2019

Although the dual modulation wave method can solve the low-frequency neutral point potential (NPP) fluctuation problem for three-level neutral point clamped converters, it also increases the switching frequency and limits the zero-sequence voltage. That makes it harmful when dealing with the NPP drift problem if the converter suffers from a long dead time or asymmetric loads. By introducing two degrees of freedom (2-DOF), an NPP control based on a search optimization method can demonstrate its ability to cope with the above mentioned two types of NPP problems. However, the amount of calculations for obtaining an optimal 2-DOF is so large that the method cannot be applied to certain industrial applications with an inexpensive digital signal processor. In this paper, a novel optimal 2-DOF-based NPP control is proposed. The relationships between the NPP and the 2-DOF are analyzed and a method for directly determining the optimal 2-DOF is also discussed. Using a direct calculation method, the amount of calculations is significantly reduced. In addition, the proposed method is able to maintain the strongest control ability for the two types of NPP problems. Finally, some experimental results are given to confirm the validity and feasibility of the proposed method.

• 한국지진공학회논문집
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• 제26권3호
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• pp.117-125
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• 2022

In this study, centrifuge model tests were performed to evaluate the seismic response of multi-DOF structures with shallow foundations. Also, elastic time history analysis on the fixed-base model was performed and compared with the experimental results. As a result of the centrifuge model test, earthquake amplification at the fundamental vibration frequency of the soil (= 2.44 Hz) affected the third vibration mode frequency (= 2.50 Hz) of the long-period structure and the first vibration mode (= 2.27 Hz) of the short-period structure. The shallow foundation lengthened the periods of the structures by 14-20% compared to the fixed base condition. The response spectrum of acceleration measured at the shallow foundation was smaller than that of free-field motion due to the foundation damping effect. The ultimate moment capacity of the soil-foundation system limited the dynamic responses of the multi-DOF structures. Therefore, the considerations on period lengthening, foundation damping, and ultimate moment capacity of the soil-foundation system might improve the seismic design of the multi-DOF building structures.

• 로봇학회논문지
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• 제3권4호
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1297-1301
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• 1997

Generally, singularity analysis of 6-DOF parallerl manipulators is very difficult and, as result, velocity relation has many uncertainties. In this paper, an alternative method using the local structurizatioin method(LSM) for the analysis of singular configuraions is presented. With LSM, the velocity relation can be represented in a simple form, and the result is totally equivalent to the conventional velocity relation. The velocity relation suggested in this paper gives a closed-form solution of singularities.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2001년도 추계학술발표논문집
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• pp.260-264
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• 2001

This paper presents virtual reality using 6-DOF Haptic interface. It is proposed reappearance of force using 6-DOF Haptic device that was designed by previous studies and 3D image considered time delay. The performance of conventional control is excellent in the case of the exactly known dynamic model of the robot, but degrades seriously as the uncertainty of the model increases. The virtual reality using 6-DOF Haptic interface is presented here to overcome such that, and verified through the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.217-220
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• 1996

In this paper, a fully geometrical method for the determination of the workspace of a 6-DOF parallel manipulator is presented using the concept of 4-bar linkage. The reachable and dexterous can be determined from the proposed algorithm. In order to evaluate the workspace, each leg is considered as an open chain, and two kinematic constraints are developed. The proposed method is verified by simulation.