• The Transactions of the Korean Institute of Electrical Engineers
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• 제35권5호
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• pp.177-184
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• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제40권8호
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• pp.825-835
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• 1991

This paper deals with a case for robotic hands to grasp the objects using inner link contact as well as fingertip contact. And the case is proved to be more efficient than the case of using only fingertip contact in terms of stability and uniform distribution of the contact forces. The general algorithm for the determination of the optimal ocntact force is developed for the soft finger contact as well as the point contact with friction. To show the validity of the proposed algorithm a numerical example is illustated by employing a robotic hand with three fingers each of which has four joints.

• The Transactions of the Korean Institute of Electrical Engineers B
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• 제54권3호
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• pp.111-119
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• 2005

In the magnetic fluid linear pump, the pumping forces and pumping speed mainly depend on the current patterns. In this research, a new design to reduce the discontinuities of the pumping forces of the MFLP was studied. Continuous pumping of the newly designed MFLP by using AC current increases pumping efficiency and reduces the pumping force. Forming shapes of the magnetic fluid at the intermediate state were computed and compared to measurement. Since the back flow of the fluid is reduced remarkably, 4 yoke's AC driving is more efficient than 7 yoke's DC driving. The size, weight and pumping discontinuity are also reduced.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제57권5호
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• pp.896-901
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• 2008

This paper addresses the foot force distribution problem for quadruped robots with a failed leg. The quadruped robot has fault-tolerant straight-line gaits with one leg in locked-joint failure, and has discontinuous motion with respect to the robot body. The proposed method is operated in two folds. When the robot body stands still, 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. When the robot body moves, the conventional pseudo-inverse algorithm is applied to obtain the foot forces for supporting legs. Simulation results show the validity of the proposed scheme.

• The Transactions of the Korean Institute of Electrical Engineers B
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• 제54권11호
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• pp.527-532
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• 2005

During the last ten years the new interruption techniques, which use the arc energy itself to increase the pressure inside a chamber by the PTFE nozzle ablation, have displaced the puffer circuit breakers due to reduced driving forces and better maintainability. In this paper, we have investigated the thermal flow characteristics inside a thermal puffer type gas circuit breaker by solving the Wavier-Stokes equations coupled with Maxwell's equations for considering all instabilities effects such as turbulence and Lorentz forces by transient arc plasmas. These relative inexpensive computer simulations might help the engineer research and design the new interrupter in order to downscale and uprating the GIS integral.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제41권1호
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• pp.18-23
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• 1992

Magnet core and rail of a magnetically levitated vehicle are usually made of highly conductive materials. Accordingly, eddy currents are induced in those members. Eddy currents often lead to a decrement of levitation and guidance force. This paper has calculated the decrement of both forces due to eddy current generated by magnet's vertical and lateral motion. U-shaped electromagnet and rail were chosen as amodel of 2D finite element analysis. Calculated results proved that both forces dropped significantly at high speed. Consequently, effects of eddy current should be considered in designing the magnet and control system.

• The Transactions of the Korean Institute of Electrical Engineers B
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• 제48권11호
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• pp.604-610
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• 1999

Vibration of a rotor-bearing system driven by an electric motor is a coupled phenomenon between mechanical characteristics and magnetic origins through the air-gap. With the advent of new high-energy magnets together with high precision motor applications, magnetic sources of vibration are becoming more serious. This paper investigates the transient whirl responses of a rotor system with purely mechanical origins and compares it with that of magnetically coupled origins. A perturbation method is applied to model the magnetic field associated with rotor eccentricity. Electromagnetic forces are obtained by the Maxwell stress method, which utilizes the analytical expression of radial flux density distribution. The FEM was applied to a rotor-motor system to illustrate magnetically coupled effects in rotor dynamics. Results show that magnetically coupled sources significantly affect the vibration of the rotor-motor system.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제11B권2호
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• pp.34-39
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• 2001

This paper described the forces analysis of a hybrid linear pulse motor (HLPM) with high accuracy and repeatability. The HLPM is fed from a phase current by microstepping drive. The finite element method (FEM) is employed for calculating the force. The forces between mover(forcer) and stator(platen) have been calculated using the virtual work method. The detent force, rate of tooth width to tooth pitch and magnetic saturation were analyzed to considered the distortion characteristics of static thrust. The thrust to displacement produced a high pulsating force while the normal force is much higher than the thrust force.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제57권4호
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• pp.589-595
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• 2008

Detent force of a permanent magnet linear motor(PMLSM) consist of cogging and drag forces, and should be minimized for high precision control purpose applications. This paper shows that the cogging force can be reduced effectively by employing 9 pole 10 slot structure. The drag force is minimized by optimizing the total length and shape of the exterior teeth of armature core simultaneously by using($1+{\lambda}$) evolution strategy coupled with response surface method. After optimization, the optimized PMLSM is proven to reduce 95% and 92.6% of the cogging and total detent forces, respectively, and give 12% and 6.4% higher Back-emf and thrust force, respectively, compared with a conventional 12 pole 9 slot structure under the same condition. Additionally, Simulation results by the proposed optimum design are verified by the experiment results.

• The Korean Journal of Physiology
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• 제18권1호
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• pp.81-96
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• 1984

As the crippled persons work mostly in a sitting position and would be engaged in a foot-pressing job, it is necessary to assess their degree of participation of important muscles in various modes of foot activities. In this regard, it deems to be urgent to establish the reference standards for healthy persons. The present study has been undertaken to determine the degree of participation of the M. tibialis anterior, M. gastrocnemius and M. soleus in heel pressing, foot-flat pressing and forefoot pressing motion under varying forces, and in order to compare the electrical activities of three muscles with each other, and to analyse the time sequence between force and appearance or disappearance of EMG recording. Sixty-three healthy young women ranging from age of 18 to 23 were examined. The results obtained were as follows: 1. Participation of three muscles in foot movement under varying forces: A) Both gastrocnemius muscles or left soleus muscle did not contribute to heel pressing motion. Activity of both tibialis anterior muscles was the greatest among three muscles at heel pressing motion and the degree of their activities was proportional to force. B) Activities of left tibialis anterior muscle and both gastrocnemius muscles were negligible under 3 kg force at foot-flat pressing movement. Left gastrocnemius muscle did not contribute to foot-flat pressing under 6 or 9 kg force. Although activities of both soleus muscles and both tibialis anterior muscles were small, the degree of their activities increased with force at foot-flat pressing movement. C) Activities of both tibialis anterior muscles were negligible under 3 kg force at forefoot pressing motion. Activity of both soleus muscles was the greatest among 3 muscles and the degree of their activities increased with force at forefoot pressing motion. Both tibialis anterior muscles participated in forefoot pressing motion with severe exertion. 2. Electrical activities by foot movement under varying forces : A) Electrical activities were prominent in both tibialis anterior muscles and the level of their activities was linear with force at heel pressing motion. The degree of participation of both soleus muscles was small at heel pressing motion. B) Electrical activity of tibialis anterior muscle was the greatest among 3 muscles at foot-flat pressing movement and was followed by that of soleus muscle. Level of electrical activities increased with force in left soleus muscle and right tibialis anterior muscle at foot-flat pressing movement. C) Electrical activity of both soleua muscles was the greatest among 3 muscles at forefoot pressing movement and that of tibialis anterior muscle was next to soleus muscle. Level of electrical activities was proportional to force in left tibialis anterior muscle, right gastrocnemius muscle and both soleus muscles at forefoot pressing movement. 3. Time between starting signal and initiation of contraction of heel pressing and forefoot pressing motion in 3 muscles was longer than that of foot-flat pressing movement. Time of relaxation in 3 muscles was longer than that of contraction under varying forces. EMG recording appeared before initiation of contraction in both tibialis anterior muscles at heel pressing motion and in both soleus muscles at forefoot pressing movement under varying forces. Time of initiation of contraction was similar in both sides of tibialis anterior muscles under varying forces and time of onset of contraction at foot-flat pressing motion was the shortest. 4. Forefoot pressing movement would be encouraged in paralysis of tibialis anterior muscle, while heel pressing motion would be encouraged in paralysis of triceps surae muscle.