• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.11
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• pp.547-554
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• 2006

The detent force of a permanent magnet linear motor(PMLM) consists of the end force and cogging force, and should be reduced for high precision purpose applications. The cogging force comes from the electromagnetic interaction between the permanent magnets and interior teeth(or the slots) of the stator, and of which the magnitude depends on the ratio of the numbers of the armature and permanent magnet poles as well as the geometrical shape of the permanent magnet and armature pole. In order to reduce the cogging force of a PMLM, this paper proposes a new configuration which has 9 permanent magnet poles and 10 armature winding slots. By theoretical investigation of the principle of cogging force generation and simulating using finite element method, the proposed PMLM configuration is proven to give much less cogging force than the conventional configuration which has 8 permanent magnet poles and 12 armature winding slots. A proper winding algorithm, modified (A, A, A) winding method, for the proposed configuration is also suggested when the proposed PMLM is operating as a 3 phase synchronous machine. A theoretical and numerical calculation shows that the proposed configuration makes slightly bigger back-emf and thrust force under same exciting current and total number of winding turns condition.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.3
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• pp.632-640
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• 2007

The low force estimation method of skeletal muscle was proposed by using ICA(independent component analysis) and neuro-transmission model. An EMG decomposition is the procedure by which the signal is classified into its constituent MUAP(motor unit action potential). The force index of electromyography was due to the generation of MUAP. To estimate low force, current analysis technique, such as RMS(root mean square) and MAV(mean absolute value), have not been shown to provide direct measures of the number and timing of motoneurons firing or their firing frequencies, but are used due to lack of other options. In this paper, the method based on ICA and chemical signal transmission mechanism from neuron to muscle was proposed. The force generation model consists of two linear, first-order low pass filters separated by a static non-linearity. The model takes a modulated IPI(inter pulse interval) as input and produces isometric force as output. Both the step and random train were applied to the neuro-transmission model. As a results, the ICA has shown remarkable enhancement by finding a hidden MAUP from the original superimposed EMG signal and estimating accurate IPI. And the proposed estimation technique shows good agreements with the low force measured comparing with RMS and MAV method to the input patterns.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1651-1656
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• 2005

This paper describes a natural frequency analysis conducted to find out a suitable working area for a spring-manipulator system generating a large vibrating force with mechanical resonance. Large force generation is one of the functions that we hope for a robot. For example, a weeding robot is required to generate a large force, because some weeds have roots spreading deeply and tightly. The spring-manipulator system has a spring element as an end-effector, so it can be in a state of resonance with the elasticity of the spring element and the inertial characteristics of the manipulator. A force generation method utilizing the mechanical resonance has potential to produce a large force that cannot be realized by a static method. A method for calculating a natural frequency of a spring-manipulator system with the generalized inertia tensor is proposed. Then the suitable working area for the spring-manipulator system is identified based on a natural frequency analysis. If a spring-manipulator system operates in the suitable working area, it can sustain mechanical resonance and generate a large vibrating force. Moreover, it is shown that adding a mass at the tip of the manipulator expands the suitable working area.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.8
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• pp.178-185
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• 1999

In tool condition monitoring systems, parameters should be set to a certain threshold. In many cases, however, the threshold is dependent on cutting conditions, especially the radial immersion ratio. In this presented is a method of on-line estimation of the radial immersion ratio in face milling. When a tooth finishes sweeping, a sudden drop of cutting force occurs. The force drop is equal to the cutting force that acting on a tooth at the swept angle of cut and can be acquired from cutting force signals in feed and cross-feed directions. Average cutting force per tooth period can also be calculated from cutting force signals in two directions. The ratio to cutting forces in two directions acting on a tooth at a certain swept angle of cut and the ratio of average cutting forces in two directions per tooth period are functions of the swept angle of cut and the ratio of radial to tangential cutting forces. Using these parameters, the radial immersion ratio is estimated. Various experiments are performed to verify the proposed method. The results show that the radial immersion ratio can be estimated by this method regardless of other cutting conditions.

• Structural Engineering and Mechanics
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• v.9 no.5
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• pp.469-482
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• 2000

A numerical study using nonlinear finite element analysis is performed to investigate the behavior of isolated reinforced concrete walls subjected to combined axial force and in-plane and out-of-plane bending moments. For a nonlinear finite element analysis, a computer program addressing material and geometric nonlinearities was developed. Through numerical studies, the internal force distribution in the cross-section is idealized, and then a new design method, different from the existing methods based on the plane section hypothesis was developed. According to the proposed method, variations in the interaction curve of the in-plane bending moment and axial force depends on the range of the permissible axial force per unit length, that is determined by a given amount of out-of-plane bending moment. As the out-of-plane bending moment increases, the interaction curve shrinks, indicating a decrease in the ultimate strength. The proposed method is then compared with an existing method, using the plane section hypothesis. Compared with the proposed method, the existing method overestimates the ultimate strength for the walls subjected to low out-of-plane bending moments, while it underestimates the ultimate strength for walls subject to high out-of-plane bending moments. The proposed method can address the out-of-plane local behavior of the individual wall segments that may govern the ultimate strength of the entire wall.

• Journal of Korean Society of Steel Construction
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• v.23 no.2
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• pp.237-247
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• 2011

This paper presents an improved initial force method for determining the initial shape of suspension bridges. After determining the initial shape factors through the force equilibrium conditions of each hanging point, the initial force method was applied with the computed values, each node's coordinates, and unstrained lengths of the cable element as inputs. The unstrained length of each cable element was regarded as a fixed value in each iteration step, unlike in the typical initial force method. This method can be applied to 2D and 3D suspension bridge models. The validity of the present method was demonstrated by comparing the results of the numerical examples.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.2
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• pp.71.3-71.3
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• 2019

Previously we developed a method of coronal force-free field construction using vector potentials. In this method, the boundary normal component of the vector potential should be adjusted at every iteration step to implement the boundary normal current density, which is provided by observations. The method was a variational method in the sense that the excessive kinetic energy is removed from the system at every iteration step. The boundary condition imposing the normal current density, however, is not compatible with the variational procedure seeking for the minimum energy state, which is employed by most force-free field solvers currently being used. To resolve this problem, we have developed a totally new method of force-free field construction. Our new method uses a unique magnetic field description using two scalar functions. Our procedure is non-variational and can impose the boundary normal current density exactly. We have tested the new force-free solver for standard Low & Lou fields and Titov-Demoulin flux ropes. Our code excels others in both examples, especially in Titov-Demoulin flux ropes, for which most codes available now yield poor results. Application to a real active region will also be presented.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.553-556
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• 2002

A numerical study on the use of the momentum interpolation mettled for flows with a large body force is presented. The inherent problems of the momentum interpolation method are discussed first. Numerical experiments are performed for a typical flow involving a large body force. The tact that the momentum interpolation method may result in physically unrealistic solutions is demonstrated. Numerical experiments changing the numerical grid have shown that a simple way of removing the physically unrealistic solution is a proper grid refinement where there is a large pressure gradient. An effective way of specifying the pressure and pressure correction at the boundary by a local mass conservation near the boundary is proposed, and it is shown that this method can effectively remove the inherent problem of the specification of pressure and pressure correction at the boundary when one uses the momentum interpolation method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.11
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• pp.1551-1557
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• 2015

Magnetic coupling is used where required high reliability. because magnetic coupling's durability is stronger than mechanical coupling's durability. This paper shows the characteristics of radially magnetized tubular type magnetic coupling by using Analytical method such as space harmonic method. Analytical method was used, to find force characteristics. First, on the basis of the magnetic vector potential and two-dimensional(2-D) polar-coordinate system, the magnetic field solutions of the radially magnetized permanent magnet are obtained. And we obtain the analytical solutions for the flux density produced by permanent magnet. Finally, we can calculate the force by using the Maxwell stress tensor. And then, Finite element method(FEM) is used to validate force characteristics.