• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.352-361
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• 2018

This paper proposes a sensing system of the Halbach array permanent magnet spherical motor(PMSM). The rotor position can be obtained by solving three rotation angles, which revolves around 3 reference axes of the stator. With the development of 3-D hall sensor, the position identification problem of the Halbach array PMSM based on rotor magnetic field is studied in this paper. A nonlinear and serious coupling relationship between the rotation angles and the measured magnetic flux density is established on the basis of the rotation transformation theory and the magnetic field model. In order to get rid of the influence on position detection caused by the harmonics of rotor magnetic field and the stator coil magnetic field, a sensor location combination scheme is proposed. In order to solve the nonlinear equation fast and accurately, a new position solution algorithm which combines the merits of gradient projection and particle swarm optimization(PSO) is presented. Then the rotation angles are obtained and the rotor position is identified. The validity of the sensing system is verified through the simulation.

• Journal of Advanced Navigation Technology
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• v.16 no.5
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• pp.731-737
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• 2012

In the present study, a feasibility study on an innovative satellite attitude control actuator is performed. The actuator is specially designed to generate the reaction torque in an arbitrary axis, so that a satellite attitude can be controlled by using itself. It consists of a spherical flywheel and electromagnets for levitation and rotation control of the ball. As the earlier study, a rotating performance test on the spherical actuator is conducted in a single rotating axis and vertical levitation condition. From the test results, it can be confirmed that the maximum speed and torque of the innovative device are 7,200rpm and 0.7Nm, respectively. Using a velocity-voltage characteristic curve of the spherical motor, an open-loop control (V/f constant control) is performed, and the test results show excellent control performance in acceleration and deceleration phases.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.1-7
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• 2006

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.

• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.26-33
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• 2017

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.19-21
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• 2003

일반적으로 PMDC모터에 사용되는 자석은 가격과 재질에 따라서 여러 가지로 분류할 수 있다. 그러나 착자방법에는 등방향과 방사형 착자로 나눌 수 있고 용도에 따라서 다극으로 착자할 수 있다. 하지만 그 기본적인 구조에는 원통형, 판형, 육면체형으로 분류할 수 있는데 구형, 반구형 또는 구형 shell에 관한한 아직까지 소개된 문헌이 빈약하다. 본 논문에서는 슬롯리스 구형직류모터에 사용될 반구형 shell형태의 영구자석의 착자기 구조와 착자방법에 대한 가능성을 찾아보고 이론적으로 증명하고자 한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.401-406
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• 2008

This paper proposes a method to calculate the static characteristics of the FDBs with the curved surface. The general Reynolds equations are derived for the curved surfaces in the ${\theta}s$ plane. And the Reynolds equation is transformed to the finite element equations by considering the continuity of pressure and flow at the interface between the curved, journal and the thrust bearings. It also includes the Reynolds boundary condition in the numerical analysis to simulate the cavitation phenomenon. The static characteristics of the coupled journal and conical bearings were investigated due to the variation of conical angle. It shows that the conical angle is one of the important design parameters affecting the static and dynamic characteristics of FBBs.

• The Korean Journal of Zoology
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• v.39 no.2
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• pp.223-230
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• 1996

Fine structure of the neuromuscular junction in the venomous organ of the spider, Agelena li'mbutq, was studied using high magnification electron microscope. The motor nerve endings at neuromuscular contact area composed of neurons and neuroslial cells were located between musculature and extracellular sheath of the venom gBand. At the synaptic contact between a motor axon and a muscle fiber in the musculature, spherical synaptic vesicles were prominent in the nerve terminal. The sarcoplasm beneath the neuromuscular synapse has a granular appearance and lacks mvofilaments. And the main axon gives off a branch between the muscle fibers. The synaptic regions of this organ are located close to the myofilaments unlike to other chelicerate classes. Moreover the postsvnaptic complex of vesicles and membrane invasinations present in other synaptic legions are absent from these legions in this venomous organ.

• Journal of Biosystems Engineering
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• v.21 no.2
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• pp.123-133
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• 1996

An automatic drum seeder was developed to improve the seeding operation. It consisted of a conveyor to transfer seedling trays, a seed-hopper to supply seeds, a drum to drop seeds on the tray, and an air blower to remove extra seeds. A photo sensor was used to detect the transfer of seedling trays, and its signal was fed into microcomputer which operated a stepping motor driving the drum. The seeds were adhered to the surface of drum by vacuum pressure, and were dropped into tray cells by compressed air. An air connection unit was devised to alternate between vacuum pressure and compressed air. A control program for the system, written in C language, could operate the drum at the given number of revolutions and revolutions per minute. The results showed that the air connection unit could operate well and the seeds were dropped satisfactorily into tray cells. In case of cabbage and perilla seeds, which are regular and spherical shape, the missing rate was low and the single seeding rate was more than 97%. Low missing rate and high multiple seeding rate were observed in lettuce seeds which have narrow ends with tight weight. The missing rate of pepper seed was very high because of heavy weight and irregular shape. To improve the performance of the seeder, adjustment of vacuum pressure based upon shape and weight of the seeds, careful selection of the material of drum, maintenance of consistent air blower pressure, and replacement of stepping motor to DC motor are recommended.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.361-366
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• 2015

In this paper, we propose a novel surveillance throwing robot which is compact, light-weight and has an efficient shock absorption mechanism. The throwing robot is designed in a spherical shape to be easily grabbed by a hand for throwing. Also, a motor-wheel linking mechanism is designed to be robustly protected from shocks upon landing. The proposed robot has a weight of 2.2kg and the diameter of its wheels is 150 mm. Through the field experiments, the designed robot is validated to withstand higher than 13Ns of impulse.