• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.1353-1359
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• 2004

There are many massive components added on the railway overhead-line. These components cause larger fluctuations of contact forces, which are due to wave reflections and Doppler effects when a high-speed train passes those. In this paper, mathematical formula are derived for the relation between the added mass and contact force fluctuations. Using the derived formula, we calculate a added mass on the overhead-line which cause amplification factor to become 2.5. German design practice requires that amplification factor due to the wave reflection should be less than 2.5 to obtain good current collection performance. To show the validity of the formula, simulation results are compared with the calculation results. Simulation results showed that contact force fluctuations grow rapidly when an added mass is larger than the calculation result. Therefore, the simple form of formula can be used for estimating maximum added mass not to cause large fluctuations of contact forces in early design phase.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.405-406
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• 2012

• Journal of Mechanical Science and Technology
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• 제19권6호
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 C
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• pp.1985-1987
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• 2002

Silicon bulk micromachined micromirrors are designed and fabricated for out-of-plane right angle reflection. The micromirror is comprised of a minor plate, springs, magnetic bars and electrodes. Single crystalline silicon is used for a flatness improvement of a mirror plate. Out-of-plane right angle reflection requires a 45 degree operation of the micromirror. The micromirrors are operated by applying a magnetic field, which is generated by a coil located below a substrate. For an individual mirror operation, each mirror is clamped using an electrostatic force against the electromagnetic force. Angular deflections are measured and compared with theoretical data. The micro mirror operates up to 45 degree when magnetic field is 4 kA/m which is generated by a 115 mA coil current Simple addressing is tested, and it is shown that a clamping voltage is less than 5V.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.243-245
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• 2007

This paper presents the implementation of teleoperation control of an omni-direction mobile robot. The master joystick robot has two degrees of freedom to control the movement of the slave mobile robot in the Cartesian space. In addition, the whole teleoperated control system is closed by the force feedback. The operator can feel the contact force as the slave robot makes contact with the environment. Experimental results show that the teleooerated control with force feedback has been successfully implemented.

• 한국정밀공학회지
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• 제27권12호
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• 대한치과교정학회지
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• 제23권3호
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• pp.375-389
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• 1993

The delivery of optimal orthodontic treatment is greatly influenced by a clinician's ability to predict and control tooth movement achieved by applying known force systems to the dentition. It is important to determine the location of the center of resistance of a tooth or group of teeth to better understand the nature of their displacement characteristics under the various force levels. The purpose of this study was to define the location of the centers of resistance of various units of the upper anterior segment for lingually directed 100gm and 200gm force in a dry human skull. The units investigated were composed of four incisors and six anterior teeth. In addition, the effect of change in force magnitude on the location of the center of resistance of these units was investigated. The laser reflection technique was used to measure the initial displacements of the consolidated teeth under loading. The results were as follows: 1. The instantaneous center of resistance for the four anterior teeth was located vertically between level 4 and level 5-that is, at $37.4\%$ apical to the cementoenamel junction level. 2. The instantaneous center of resistance for the six anterior teeth was located vertically just beneath level 5-that is, at $50.3\%$ apical to the cementoenamel junction level. 3. Increasing force levels had little effect on the location of the center of resistance of a given unit. 4. The location of the instantaneous center of resistance shifted apically as the number of dental units consolidated increased.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.425-425
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• 2000

The heavy duty power manipulate generally has high ratio gear reducers at its joints. When it is used as a slave manipulator in the teleoperation system, therefore, the control input saturates frequently and its tracking performance and stability ate also likely to be deteriorated. This paper proposes a force reflecting control scheme for the manipulator with control input saturation. A series of experiments are shown to give excellent tracking performance with force reflection regardless of control input saturation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.365-366
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• 2006