• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.279-288
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• 2004

This paper presents a novel design for a tubular linear brushless permanent-magnet motor. In this design, the magnets in the moving part are oriented in an NS-NS―SN-SN fashion which leads to higher magnetic force near the like-pole region. An analytical methodology to calculate the motor force and to size the actuator was developed. The linear motor is operated in conjunction with a position sensor, three power amplifiers, and a controller to form a complete solution for controlled precision actuation. Real-time digital controllers enhanced the dynamic performance of the motor, and gain scheduling reduced the effects of a nonlinear dead band. In its current state, the motor has a rise time of 30 ms, a settling time of 60 ms, and 25% overshoot to a 5-mm step command. The motor has a maximum speed of 1.5 m/s and acceleration up to 10 g. It has a 10-cm travel range and 26-N maximum pull-out force. The compact size of the motor suggests it could be used in robotic applications requiring moderate force and precision, such as robotic-gripper positioning or actuation. The moving part of the motor can extend significantly beyond its fixed support base. This reaching ability makes it useful in applications requiring a small, direct-drive actuator, which is required to extend into a spatially constrained environment.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.34 no.5
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• pp.537-542
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• 2008

BSSRO is most frequently operated among orthognathic surgery techniques for repairment of maxillofacial deformities. In case of patients with maxillofacial asymmetry accompanying mandibular protrusion who are operated by BSSRO, this study considers the recovering time for masticatory force of each tooth and Masseteric EMG and the adequate time enabling normal occlusion. The patients who are operated with BSSRO under general anesthesia in Dankook Dental Hospital, Department of OMS are selected for this study. The control group is devided into 2. 26 patients with facial asymmetry accompanying mandibular protrusion are selected for group 1 and their maximum voluntary bite force and masseteric EMG are measured. Group 2 is formed by volunteers with healthy dentition who are measured maximum bite force and masseteric EMG on both sides of the mouth. At the week of 3rd, 5th, 7th, 9th and 11th, Mann-Whitney U test is carried on for statistical analysis and the result is as follows. 1. Patients with mandibular protrusion showed apparently low maximum bite force and masseteric EMG than patients with normal occlusion. 2. In comparison with control group 1, Occlusal force is regained in incisors and canines at the 9th week and in premolars and molars, 11th week and masseteric EMG is regained at 11th week. 3. Comparing to normal occlusal patients, no recovery could be found in experimental group in every parts of the mouth.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.828-833
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• 2003

Rigid plate elastically supported at the edges is modeled and the performance of the optimal vibration control under sinusoidal excitation is tested. The controller based on the linear quadratic regulator with output feedback is designed to control the multi-degree of freedom vibration. Relative weighting parameters are considered as design constraints to determine the limitation of maximum control force and state parameters. Control force calculated by proportional output feedback of the displacement and velocity is used to suppress the vibration induced by the sinusoidal external force. The active vibration control of vibrating plate by the LQR controller is examined through the numerical simulations that show the effectiveness of optimal control scheme on the three degrees of freedom structure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.347-352
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• 2011

The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2423-2425
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient(AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. fuzzy logic controller(FLC) is petty useful with slip through that compare fuzzy with PI control for the controller performance. These procedure is implemented using a Pioneer 2-DXE parameter.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.7
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• pp.1446-1452
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• 2002

In the turning process, the feed is usually selected by a machining operator considering workpiece, cutting tool and depth of cut. Even if this selection can avoid power saturation or tool breakage, it is usually conservative compared to the capacity of the machine tools and can reduce the productivity significantly. This paper proposes a selection method of the feed and the reference cutting force based on MRR(material removal rate), maximum spindle power and specific energy. In order to estimate and control cutting force accurately in transient and steady state, this study utilizes a synthesized cutting force estimation method and a Fuzzy controller. The experimental results show that these systems can be useful for the unmanned turning process.

• Journal of Drive and Control
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• v.20 no.4
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• pp.9-16
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• 2023

This paper analyzed a drainage tower used to drain water in flooded areas. Multi-body dynamics simulation was used to analyze the dynamic behavior of the drainage tower. Structural analysis, flexible-body dynamic analysis, and rigid body dynamic analysis were done to study the maximum Von-Mises stress of the drainage tower. The results showed that the maximum Von-Mises stress occurs at the turn table, and it decreases when the angle of the boom is increased. Also, the rate of the change of angle affects the maximum stress so that the maximum stress changes more when the angular velocity of the boom increases. Based on the rigid body dynamic analysis and the theoretical analysis results, the centrifugal force from the angular velocity makes the difference in the maximum stress at the turn table because of the difference in their direction. Consequently, it was concluded that the centrifugal force should be considered when designing construction machinerythat can rotate.

• Journal of Dental Rehabilitation and Applied Science
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• v.38 no.4
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• pp.204-212
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• 2022

Purpose: The aim of this study was to compare changes of bite force, occlusal contact area, and dynamic functional occlusion analysis after occlusal stabilization splint therapy during sleep for one month in a patient with bruxism. Materials and Methods: From October 2021 to July 2022, sleep bruxism of 30 patients who visited the Department of Oral Medicine at Yonsei University College of Dentistry Hospital were recruited. The participants were divided into two groups: using an occlusal stabilization splint during sleep (treatment; n = 15) and not using an occlusal stabilization splint (control; n = 15). Before using the occlusal stabilization splint and one month after, bite force, occlusal contact area and dynamic functional occlusion analysis (ratio of left/right bite forces, average bite forces, maximum bite forces, and maximum contact areas during lateral and anterior and posterior mandibular movements) were performed. Results: There was no difference in bite force and occlusal contact area between the treatment group using the occlusal stabilization splint and the control group not using the occlusal stabilization splint during sleep for one month. However, there were significant differences in the average bite force and maximum bite force in the lateral and anterior and posterior mandibular movements and the maximum contact areas in the anterior and posterior mandibular movements. Conclusion: The occlusal stabilization splint is helpful for sleep bruxism patients who lateral and anterior and posterior mandibular movements. In addition, further studies are needed a double-blind study with a large population.