• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.606-609
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• 1995

To stabilize a satellite, a spin stabilization method is used for attitude control. The spin stabilization uses the centrifugal force of a pendulum damper which is tilted long boom, to stabilize the unstable satellite. In this paper, an inverted pendulum system is implemented which is similar to the spin stabilization method. Study on the velocity of the rotation axis and the inverted pendulum's angle stability is shown. We designed a controller using a 32bit TMS320C31 DSP for the CPU and also performances by PLD control and Sliding Mode Control is compared.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2576-2578
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• 2005

In this paper, we address two position control scheme; the lead-lag control and the sliding mode control for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

• Journal of Drive and Control
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• v.9 no.4
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• pp.26-31
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• 2012

Friction reduction between sliding hydraulic machine components is required to improve efficiency and reliability of hydraulic machineries. It is recently reported that surface texturing on sliding bearing surfaces can reduce the friction force highly. In this paper, numerical analysis is carried out to investigate the effect of dimple numbers and inlet boundary pressures on the lubrication characteristics of a parallel sliding bearing using a commercial computational fluid dynamics (CFD) code, FLUENT. The results show that the pressure distribution, load capacity, dimensionless friction force and leakage with dimple number and their locations, and inlet pressures. The overall lubrication characteristics are highly affected by dimple numbers and boundary pressure. The numerical method adopted and results can be used in design of efficient hydraulic machine components.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2380-2382
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• 2001

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system using fuzzy sliding mode control. In a bilateral control system the motion of the master device is followed by slave the one. While the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to the input, robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed fuzzy sliding mode controller.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.29 no.5
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• pp.260-268
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• 2017

In this study, wind characteristics of a shipping container were investigated through the wind tunnel test (high-frequency force balance test), and damage occurrence velocities of various containers with weights were evaluated based on results of the wind tunnel tests. As a result, mean wind force coefficients acting on containers in x-direction increased in the order of 12ft, 20ft, 40ft and 40ft high cube. On the other hand, mean wind force coefficients at y-direction increased in the order of 40ft high cube, 40ft, 20ft and 12ft. It was suggested that the shear layer separated from the corner of windward surface of the container is reattached on the sides of it, and then the mean wind force coefficient is weaker. As a result of the damage occurrence velocity on containers with weights, it was found that the probability of occurrence of sliding is higher rather than that of overturning. Further, the most unfavorable container was 40ft high cube, and the sliding and overturning occurrence velocities were 20.4 m/s and 26.8 m/s, respectively. Furthermore, the regression formula for sliding and overturing occurrence velocitys were proposed based on the results of relationship between weights of containers and damage occurrence velocities. These results are expected to be useful in establishing a guideline for external force estimation acting on container securing equipment and stacking way.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.286-291
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• 1991

This paper discusses sliding made control of robot manipurators assuming that nonlinear terms, which are inertia term, Coriolis force term and centrifugal taffn, are external disturbances. We obtained the unknown parameter of its linear terms by Signal Compression Method. We propose a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear components are regarded as disturbances. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a quick switching speed.

• Journal of the Korean Society of Safety
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• v.18 no.4
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• pp.110-114
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• 2003

In this study is proposed the advanced elasto-plastic analytical method which can identify complex structural behaviors on the splice part of steel structures such as sliding and plastic contact problem between splice plates and blots. Compliated boundary conditions and various manufacturing defects are considered in various analytical cases. In the design or repair phase the plastic behavior and ultimate strength of splice parts should be very carefully verified to extend the service life of steel structures.

• The korean journal of orthodontics
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• v.21 no.3
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• pp.543-560
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• 1991

Practitioners are aware of the presence of friction between bracket system and archwire during sliding movement of teeth. Clinically a mesiodistally applied force must exceed the frictional force to produce a tooth movement. The objective of this study were to determine, on a dry condition, changes in magnitude of friction with respect to load, 3rd order inclination (Torque), archwire materials and ligature type. Three wire alloys (Stainless Steel, TMA, NiTi) in two wire sizes (.016, .016x, .022 inch) were examined respect to two bracket system (Straight, Standard), and two ligature type (Metal, Plastic ligature) at three levels of load (100g, 150g, 200g). The results were as follows; 1. Frictional resistance was found to increase with increasing load for S.S., TMA, NiTi. 2. The straight bracket system was exhibited more frictional force than standard bracket system for .016x, .022 S.S. tightly ligated metal ligature. But, torque difference did not increase friction for loose metal ligature & plastic ligature. 3. Regardless of the ligature type, torque and load, stainless steel wire sliding against stainless steel exhibited the lowest friction, and TMA sliding against stainless steel exhibited the highest friction. 4. The loose stainless steel ligature generated lower frictional resistance than plastic ligature in all experimental groups. 5. The following factors affected friction in decreasing order; wire material ligature type, and load.

• Elastomers and Composites
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• v.36 no.2
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• pp.121-129
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• 2001

The friction characteristics of natural rubber plates under various conditions including sliding speed, normal force, hardness, lubrication conditions and thickness of plate are analyzed experimentally. The frictional force and normal force are measured by a tester pin and a load ceil with strain gages. Experimental results suggest that the coefficient of friction decreases with increasing the hardness of rubber and decreasing the thickness of plate. The effect of sliding speed is not significant over the speed range employed. The coefficient of friction is found to be about 0.1 under oil lubrication condition and varies from 0.9 to 3.9 under no lubrication condition.