• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.415-420
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• 2006

This paper introduces a new self-bearing motor which combines a homopolar step motor and a passive magnetic bearing. Compared with conventional self-bearing motors which are mostly based on the theory of active magnetic bearings and therefore have some difficulties in design of the complicated flux distribution and control of the levitation force and the torque independently, the proposed self-bearing motor has a very simple and novel structure and operating principle. for the levitation, it works just like passive magnetic bearings which use the repulsive force between permanent magnets. On the other hand, its rotation principle is quite similar to that of a conventional homopolar step motor. In this paper, we introduce the basic structure and the operating principle in detail, and show some results of FEM analysis to predict the performance of the proposed self-bearing motor and further, to get the optimal design parameters.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 한국세라믹학회지
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• 제14권4호
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• pp.226-229
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• 1977

The infrared absorption spectrum of Synthesized magnesite is shown in the wve number region 2510 and 745cm-1. By using Wilson's GF matrices the force constants' of the Urey-Bradley force field were deterined from the infrared absorption frequencies. For magnesite the stretching force constant K=5.41, the bending force constant H=0.46, the repulsive force constant F=1.97, and the force constant for the out-of-plane vibration fθ=0.65md/Å. For calcite they are K=5.51, H=0.38, F=1.88 and fθ=0.64md/Å.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.393-394
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• 2010

• 한국결정성장학회지
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• 제9권2호
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• pp.224-230
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• 1999

콜로이드성 알루미나 분말 입자들의 현탁액에서 입자들의 응집현상을 시뮬레이션 하였다. 현탁액 속의 알루미나 분말 입자들은 입자간 포텐셜 에너지를 가지고 있으며 시간이 경과함에 따라 현탁액으 전체적인 에너지를 감소시키는 방향으로 시스템을 변화시킨다. 현탁액 속의 분말 입자들의 응집 현상을 입자간 포텐셜 곡선의 유형에 따라 관찰하였다. 단거리에서 강한 친화 포텐셜 에너지를 가지는 입자들은 무정형 망목 응집구조를 유도하며 응집체의 크기가 작아지고 단거리에서 강한 척력 포텐셜 에너지와 장거리에서 상대적으로 강한 친화 포텐셜 에너지를 가지는 분말 입자들이 밀집충진 응집구조에 접근하고 응집체의 크기가 상대적으로 커지게 된다. 입자간 에너지 분포에 강한 반발에너지 장벽이 존재하는 경우에 입자들이 응집함에 따라 이러한 에너지는 장벽이 사라지게 되며 이러한 현상은 입자의 응집패턴의 변화를 의미한다.

• 한국소음진동공학회논문집
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• 제22권3호
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 한국전기전자재료학회논문지
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• 제15권6호
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• pp.535-538
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• 2002

Suspension effect has been studied by using superconductor of BiPbSrCaCuO ceramics containing $Ag_2()$. It has been clear that $Ag_2()$ acts as pinning center which plays an important role to the suspension effect. Magnetic repulsive force which affects a superconductor located in magnetic flux from toroidal magnet, has been investigated. It has been concluded that the suspension effect arises from the interaction between the pinning effect and the diamagnetic effect.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1996년도 제24회 추계학술대회
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• pp.202-206
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• 1996

An experimental study of the characteristics of the repulsiveytype magnetic bearing using high Tc superconductor is presented. In field cooling superconductor has the position-stability due to a flux pinning effect and the strong damping due to hysterisis, while in zero field cooling it has the only strong repulsive force due to Meissner effect. Lift force in superconducting levitation has a hysterisis characteristics, and it is the dissipation of energy, the mechanism of damping. As the relative linear velocity between a magnet and a superconductor increases, the area of the hysterisis loop becomes smaller. It means the decrease of damping. In field cooling, the static stiffness is very nonlinear in smaller than initial gap, but almost linear in larger than initial gap.

• 전기학회논문지
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• 제56권7호
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.