• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1167-1172
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• 1990

This paper discusses a force distribution scheme which minimizes the weighted norm of the forces/torques applied on weak points of cooperating multiple robot arms. The scheme is proposed to avoid the damage or unwanted motion of any weak point of robots or object stemming from excessive forces/torques. Since the proposed scheme can be used for either the joint torque minimization or the exerted force minimization on the object, it can be regarded as a unified force minimization method for multiple robot arms. The computational complexity in this scheme is analyzed using the properties of Jarcobian. Simulation of two identical PUMA robots held an object is carried out to illustrate the proposed scheme. By the proper choice of the weighting matrix in the performance index, we show that force minimization for a weak point can be achieved, and that the exerted force minimization on the object can be changed to the joint torque minimization.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.733-742
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• 2020

Taking the cylindrical float of the floating fence of a floating litter collection device as the research object, based on the shallow immersion characteristics of the cylindrical float, the Morison equation is modified, and the interaction between regular waves and the partially immersed horizontal cylindrical float is discussed in combination with scale model test. The results show that the modified Morison equation can accurately predict the wave force of the horizontal cylindrical float and reveal the influence of amplitude, immersion depth and period on the wave force of the cylindrical float. For partially immersed cylindrical floats, the wave force increases with the increase in wave height and decays with the increase in period. The positive value distribution of the wave force is larger than that of the negative direction, and the difference between the positive and negative directions is mainly affected by the immersion depth.

• 센서학회지
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• 제11권4호
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• pp.200-208
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• 2002

This paper represents the development of an array-type flexible tactile sensor using PVDF(polyvinylidene fluoride) film and flexible circuitry. The tactile sensor which has $8{\times}8$ taxels is made by using PVDF film and FPC(flexible printed circuit) technique. Experimental results on static and dynamic properties are obtained by applying arbitrary forces and frequencies generated by the shaker. In the static characteristics, the threshold and the linearity of the sensor are investigated. Also dynamic response of the sensor subjected to the variable frequencies is examined. The signals of a contact force to the tactile sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. Finally, the signals are integrated for taking the force profile. The processed signals of the outputs of the sensor are visualized on a personal computer, the shape and force distribution of the contacted object are obtained using two and three-dimensional image in real time. The reasonable performance for the detection of contact state is verified through the experiment.

• 한국농공학회지
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• 제35권4호
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• pp.47-54
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• 1993

A series of laboratory tests was performed with soil-columns which were compacted with sands and different amount of silt collected from the mid-stream of Gumgang, Korea. A known degree of concentration of PCP(Pentachlorophenol) was poured into the soil-columns and concentration of PCP was monitored and analyzed with time and depth. The results of the study are summarized as follows : 1. PCP was transported into soil along with the movement of moisture under gravitational force. The amount of PCP transported through soil or absorbed by soil varied with soil types. 2. The great amount of PCP was remained at 4~8cm section for the specimen No.2 and at 0~4cm section for the specimen Nos. 3 and 4. Based upon this result it is said that the amount of silt between 30 and 40% may be a threshold value for PCP transported through soil. 3. The amount of PCP remained in the specimen Nos. 2, 3 and 4 is greater than that in the specimen No.1 due to high specific surface of silt and high attraction force between PCP and silt particles in the specimen Nos. 2, 3 and 4. 4. It is said that groundwater under highly permeable soil layer such as specimen No.1 is easily polluted by PCP. That is because the PCP is basically migrated with water under the gravitational force.

• 소성∙가공
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• 제8권3호
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• pp.269-275
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• 1999

A variable blank holding force method is proposed to improve deep drawing characteristics of sheet materials. In this method, the blank holding force (BHF) is controlled throughout a drawing process so that the punch load does not exceed a critical value, which is slightly less than the conventional process with the conforming process with the variable BHF is more flexible than the conventional process with the constant BHF and it could be used for improving the product's quality and drawability. In this paper we suggest a method controlling the BHF as a function of punch travel during the forming process. The optimization BHF curves are determined theoretically and experimentally. It is concluded that for the case of optimum BHF control methods the drawn cup height and the drawing formability achieved by this method are increased than those for constant BHF method. Also, as comparing the wall thickness distribution of the cup drawn by the constant BHF and the optimum BHF control, the BHF control reduce the wall thickness variation of the drawn cup at the cup wall and make the cup thickness distribution more uniformly than the constant BHF.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제48권9호
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• pp.476-483
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• 1999

In this paper, electromagnetic forces acting on the rotor surface of a BLDC motor for hard disk drive are calculated by the finite element field analysis. The frequency characteristics of torque ripple, local force and unbalanced magnetic force as a source of mechanical vibration area analyzed. Ring-type permanent magnets for the brushless DC motor are apt to have different magnetization levels at each pole because of the unbalanced air gap between the magnet surface and the magnetizer fixture during the multi-poles magnetizing process. This paper discusses the effect of the unsymmetric magnetization distribution in the permanent magnet on the brushless DC motor performances. As a result, the unbalanced magnetic force acting on the rotor surface and the torque ripple are examined for the motor with an unsymmetric magnetization distribution, and compared with those of an ideally symmetric motor.

• Geomechanics and Engineering
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• 제10권5호
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• pp.577-598
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• 2016

This paper presents a numerical study of pile force distribution in a pile group foundation subjected to vertical load and large moment. The physical modeling of a pile foundation for a wind turbine is analyzed using 3D finite element software, PLAXIS 3D. The soil profile consists of several clay layers, which are modeled as Mohr-Coulomb material in an undrained condition. The piles in the pile group foundation are modeled as special elements called embedded pile elements. To model the problem of a pile group foundation, a small gap is created between the pile cap and underlying soil. The pile cap is modeled as a rigid plate element connected to each pile by a hinge. As a result, applied vertical load and large moment are transferred only to piles without any load sharing to underlying soil. Results of the study focus on pile load distribution for the square shape of a pile group foundation. Mathematical expression is proposed to describe pile force distribution for the cases of vertical load and large moment and purely vertical load.

• 대한기계학회논문집A
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• 제25권3호
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• pp.424-433
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• 2001

We present a new electrostatic repulsive-force microactuator using a lateral repulsive force induced by an asymmetric distribution of electrostatic field. The lateral repulsive force has been characterized by a simple analytical equation, derived from a finite element simulation. A set of repulsive force polysilicon microactuators has been designed and fabricated by a 4-mask surface-micromachining process. Static and dynamic micromechanical behavior of the fabricated microactuators has been measured at the atmospheric pressure for a varying bias voltage. The static displacement of the fabricated microactuator, proportional to the square of the DC bias voltage, is obtained as 1.27 $\mu\textrm{m}$ for the DC bias voltage of 140V. The resonant frequency of the repulsive-force microactuator increases from 11.7 kHz to 12.7 kHz when the DC bias voltage increases from 60V to 140V. The measured quality-factor varies from 12 to 13 for the bias volatge range of 60V∼140V. The characteristics of the electrostatic repulsive-force have been discussed and compared and compared with those of the conventional electrostatic attractive-force.

• 드라이브 ㆍ 컨트롤
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• 제14권1호
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• pp.14-22
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• 2017

Flow force is the additional unbalanced force acting on the valve spool by fluid flow, excluding the static pressure force that is offset on the spool land wall at the same magnitude. When designing the valve spool, it is assumed that the same average value of static pressure is applied to the inlet and outlet spool land wall in one chamber. However, the high velocity of the fluid flow by the inlet or outlet metering orifice creates unbalanced pressure distribution and generates additional force in the opposite direction to that of the solenoid attraction force. This flow force has a negative effect on the control performance of the EPPR valve, which needs to develop uniform output pressure along the entire spool control range. In this study, we developed a 3D model of the EPPR valve and conducted flow force characteristic analysis using CFD S/W (ANSYS FLUENT). The alleviated flow force model was derived by adjusting the design parameters of the spool notch.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제50권1호
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• pp.1-9
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• 2001

In this paper, the general research on the analysis of the vibration due to magnetic exciting force in the small brushless DC(BLDC) motor, which is used in the Digital Versatile Disk(DVD) ROM driving system, is performed. The first part of the study is the analysis of the magnetic exciting force in the air gap region. As a verification of the exciting force by numerical analysis, the magnetic exciting force distribution in the air gap region is computed by using Reluctance Network Method(RNM). In addition, the effect of the eccentricity on the magnetic exciting force is discussed. The other part of the research is the structural analysis of the rotor structure of the BLDC motor. The matural mode analysis of the rotor structure is performed, and the vibration response due to magnetic exciting force is found. As a result of the procedures, the basic estimation of the effect of the magnetic exciting force on the vibration of BLDC motor is suggested.