• International Journal of Control, Automation, and Systems
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• 제2권3호
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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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• 제34권5호
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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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.

• 대한기계학회논문집A
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• 제35권4호
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• pp.347-352
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• 2011

일반 산업용 로봇의 위치정밀도는 $100{\mu}m$ 정도임에 반해, 정밀부품의 조립공차는 수십 ${\mu}m$ 이내이다. 또한, 조립공차가 작을 경우 미소한 위치/각도 오차에 의해 재밍 또는 웨징이 쉽게 발생하며, 위치제어 기반의 로봇인 경우 부품 조립 시 접촉력을 적절히 조절하지 못하여 조립물이 파손될 가능성이 크다 이와 같은 문제를 해결하기 위하여 접촉력에 능동적으로 반응할 수 있는 힘제어 기반의 로봇조립에 대한 연구가 진행되고 있다. 본 연구에서는 기존의 산업용 로봇에 적용하기 용이하도록 위치제어 기반의 머니퓰레이터에 힘제어를 적용할 수 있는 시스템을 구현하였다. 머니퓰레이터에 어드미턴스 필터를 이용한 임피던스 제어를 적용하여 안정적인 접촉운동을 구현하였다. 또한, 임피던스 제어와 blind 검색을 적용하여 정밀부품을 조립할 수 있음을 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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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.

• 센서학회지
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• 제20권5호
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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 %.

• 제어로봇시스템학회논문지
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• 제6권2호
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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.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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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.

• 대한기계학회논문집A
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• 제26권7호
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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.

• 구강회복응용과학지
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• 제38권4호
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• pp.204-212
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• 2022

목적: 수면이갈이 환자에서 한달 간 수면 시 교합안정장치를 장착하였을 때 교합력과 교합 접촉 면적 및 동기능적교합분석의 변화량을 비교하고자 하였다. 연구 재료 및 방법: 2021년 10월부터 2022년 7월까지 연세대학교 치과대학병원 구강내과 외래에 방문한 수면이갈이 환자 30명 중 교합안정장치를 수면 중 착용하는 실험군(treatment; n = 15)과 교합안정장치를 착용하지 않는 대조군(control; n = 15)으로 구성하였다. 교합안정장치 장착 전, 장착 1개월 후에 교합력 검사와 동기능적교합분석(측방, 전후방 하악 운동 시 좌/우 힘의 균형, 평균 교합력, 최대 교합력, 최대 접촉 개수)을 진행하였다. 결과: 한달 간 수면 중 교합안정장치를 착용하는 실험군과 교합안정장치를 착용하지 않는 대조군에서 교합력과 교합 접촉 면적은 차이가 없었으나 측방 및 전후방 운동에서 평균 교합력과 최대 교합력, 전후방 운동에서 최대 접촉 개수가 유의한 차이가 있었음을 관찰하였다. 결론: 교합안정장치가 측방, 전후방 운동을 하는 이갈이 환자에게 도움이 될 것으로 사료되며, 향후 추가적으로 대단위 집단을 대상으로 하는 이중 맹검연구가 필요할 것으로 사료된다.