• Journal of Advanced Marine Engineering and Technology
• /
• v.33 no.2
• /
• pp.226-232
• /
• 2009

In this paper, a design and analysis of a gravity compensator which is a new device to reduce the joint torque of robots caused due to gravity is presented. Joints of all robots are loaded by large torques due to gravity. By applying the gravity compensator to the robot joints, the load torques applied to the robot joints are reduced by the repulsive force of the gravity compensator such that the size of the joint actuation motor can be reduced. In this paper, the structure and force relation of the gravity compensator are analyzed. The superior performance of the proposed gravity compensator is verified through experiments which measure the joint motor current caused by the load applied to the robot link.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.947-951
• /
• 2007

This paper is concerned with a new concept for the damper without neither a coil spring nor fluid. The new damper concept consists of the permanent magnets and the cylinder of the conducting material. The opposite pole magnets produces the repulsive forces and this is substituted for the coil spring. The relative motion between the magnets and conducting cylinder produces eddy currents thus resulting in the electromagnetic force, which turns out to be the damping force thus and is substituted for a damping fluid. This damper is called the eddy current damper(ECD). The important advantage of the proposed ECD is that it does not require the damping fluid and any external power and is non-contacting and relatively insensitive to temperature. In the present study, the proposed ECD was constructed and experiments were performed to investigate its dynamic characteristics. The experiments shows that the proposed ECD has the excellent damping ability.

• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.446-448
• /
• 1994

This paper proposes some dynamic navigation strategy for a mobile robot among multiple moving obstacles. The control force of the robot which consists of repulsive and attractive force is based on the artificial potential field. The artificial potential fields is derived with position or(and) velocities of the objects. The simulation results shows the properties of the proposed strategies.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.04a
• /
• pp.250-254
• /
• 2008

Eddy currents are induced when a nonmagnetic conductive material is moving subjected to the magnetic field due to a permanent magnet. These currents circulates in the conductive material and are dissipated, causing a repulsive force between the magnet and the conductor. Using this concept, the eddy current damping can be used as a viscous damping. The present study investigates the characteristics of a magnetic damping analytically and experimentally. The theoretical model of a eddy current damping is developed from electromagnetics and is verified from experiments. The drop test of a magnet in the cooper tube shows that the present model can accurately predict the damping force. Additionally, the dynamic test of a eddy current damping is carried to verify the present model.

• Journal of the KSME
• /
• v.35 no.10
• /
• pp.917-923
• /
• 1995

회전체 진동은 주로 밸런싱에 의해 줄일수 있지만 위험속도에서 나타나는 회전체 진동은 종종 피할 수 없다. 전자기 베어링은 이러한 회전체 진동을 능동적으로 제어하는 방법으로써 사용된다. 비접촉으로 회전체에 힘을 작용하는 동흡진기(dynamic vibration absorber)는 기존의 것에 비해 새로운 것을 필요로 하지 않는 아주 간단한 방법이다. 영구자석으로 구성된 자석 댐퍼는 비접 촉동흡진기의 일종이지만 영구자석만으로는 적절한 감쇠 성능을 만족시킬 수 없다. 따라서 영 구자석과 전자석을 동시에 사용하는 하이브리드 자석이 넓은 운전영역에서 좋은 진동제어 성능을 자지기 때문에 유용하다. 전력공급의 편리성을 위해서 하이브리드 자석을 합진기쪽에 설치하고 여러 개의 편으로 된 영구자석은 회전체의 주위에 부착하였다. 본 연구의 목적은 수직 회전 체(vertical rotor)의 진동을 제어하기 위해서 전자기력을 이용하는 하이브리드 관성 댐퍼를 개 발하는 것이다. 지금까지 전자석을 이용한 진동제어는 여러 저자에 의해 연구되어 왔으며 자기 베어링은 회전체의 진동을 제어하기 위한 전형적인 예이다. 그러나 회전체에 능동관성 댐퍼를 직접 적용한 예는 없었다. 이동흡진기는 전자석의 반발력(repulsive force)을 이용하고 흡진기의 운동에 의해 에너지가 감쇠된다. 반면에 자기 베어링에서는 전자석의 흡인력(attractive force)을 이용한다.

• Proceedings of the KIEE Conference
• /
• 1994.07a
• /
• pp.183-185
• /
• 1994

A new method for determination of electric parameter of cell membranes is proposed. Two circular electrodes is designed to have repulsive force. From the potential energy analysis, stable points where a cell is levitated between electrodes exist and move as frequency or voltage change. The levitated cell in the stable point fall freely when DEP force is zero. The DEP force is dependent on the frequency and the force is zero at the critical frequency. The critical frequency is determined by measuring the difference between the time taken at zero-applied voltage and the time taken at the frequency and the voltage. For example, the critical frequency and stable points of N.crassa slime cell is numerically evaluated. In the exeriment, polystyrene in water is levitated at the stable point. We show that the stable point move as the applied voltage is changed.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.33 no.5
• /
• pp.455-462
• /
• 2000

The objective of this study was to examine the physicochemical characteristics of coagulation reaction between loess and red tide organisms (RTO) and its feasibility, in developing a technology for the removal of RTO bloom in coastal sea. The physicochemical characteristics of loess were examined for a particle size distribution, surface characteristics by scanning electron microscope, zeta potential, and alkalinity and pH variations in sea water. Two kinds of RTO that were used in this study, Cylindrothen closterium and Skeietonema costatum, were sampled in Masan bay and were cultured in laboratory. Coagulation experiments were conducted using various concentrations of loess, RTO, and a jar tester. The supernatant and RTO culture solution were analyzed for pH, alkalinity, RTO cell number. A negative zeta potential of loess increased with increasing pH at $10^(-3)M$ NaCl solution and had -71.3 mV at pH 9.36. Loess had a positive zeta potential of +1,8 mV at pH 1.98, which resulted in a characteristic of material having an amphoteric surface charge. In NaCl and $CaCl_2$, solutions, loess had a decreasing negative zeta potential with increasing $Na^+\;and\;Ca^(+2)$ ion concentration and then didn't result in a charge reversal due to not occurring specific adsorption for $Na^+$ ion while resulted in a charge reversal due to occurring specific adsorption for $Ca^(+2)$ ion. In sea water, loess and RTO showed the similar zeta potential values of -112,1 and -9.2 mV, respectively and sea sand powder showed the highest zeta potential value of -25.7 mV in the clays. EDLs (electrical double-layers) of loess and RTO were extremely compressed due to high concentration of salts included in sea water, As a result, there didn't almost exist EDL repulsive force between loess and RTO approaching each other and then LVDW (London-yan der Waals) attractive force was always larger than EDL repulsive force to easily form a floe. Removal rates of RTO exponentially increased with increasing a loess concentration. The removal rates steeply increased until $800 mg/l$ of loess, and reached $100{\%}$ at 6,400 mg/l of loess. Removal rates of RTO exponentially increased with increasing a G-value. This indicated that mixing (i.e., collision among particles) was very important for a coagulation reaction. Loess showed the highest RTO removal rates in the clays.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.1
• /
• pp.57-65
• /
• 2000

In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

• Progress in Superconductivity and Cryogenics
• /
• v.9 no.3
• /
• pp.62-66
• /
• 2007

Electromagnetic forces (Attractive and repulsive force), interacting between current leads show different tendency according to the arrangement of current leads on the top flange of the cryostat and the distance of each lead. Especially in case of high-current electric power devices or high-field magnets, optimal arrangement of current leads becomes one of the safety issues to be considered for minimizing the electromagnetic for ce acting on them. In this paper, we suggest an optimal arrangement method with three pairs of current leads for a 24kV class 650A superconducting fault current limiter (SFCL) system which has a probability of unpredicted fault currents(i.e, 20kA).

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.32 no.6
• /
• pp.706-712
• /
• 1999

PSD (particle size distribution) for 2,000 mg/$\ell$ natural loess in seawater showed normal distribution cure at 0 minute settling time, accompanying with very large particle distribution range with its mean particle diameter of 31.6 $\mu$m and coencient of variance of $72.6\%$, With elapsed time it showed that the PSD was rapidly changed from normal distribution cure to abnormal distribution curve, steepened the right-hand side of it and its coefficient of variance was getting increased because of rapid settling of large size particles, Cumulative weight distribution showed that 2,000 mg/$\ell$ natural loess in seawater was almost $100\%$ constituted of particles bigger than 20 $\mu$m in diameter. Ratio of $V_s/(D_{bm})^{1/2}$ for loess particles in seawater was increased with increase of particle size in geometrical progression. Almost all loess particles in seawater had Stokes settling velocity not less than 2,255 times of Brownian diffusion coefficient, There was almost to EDL (about 0.4 nm) around natural loess particles in seawater, Thus, there was always LVDW attractive force between loess particles approaching each other in seawater, and almost no EDL repulsive force. Loess particles were not always in the condition of easy floe formation. Concentration of natural loess in seawater increasing from 400 mg/$\ell$ to 10,000 mg/$\ell$, characteristics of the settling was changed from Type I settling (discrete settling) to Type II settling (flocculation settling). PVD (particle volume distribution) showed that natural loess particles in seawater were largely constituted of two types of particles, such as rapidly settling particles and suspended and dispersed particles for a long time. Amount of the latter was much less than that of the former.