• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.709-715
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• 2011

Harmonic drives have been widely used in combination with joint torque sensors in order to facilitate accurate manipulator control. A harmonic drive causes a torque ripple because of its structural characteristics, and this torque ripple tends to deteriorate the performance of a controller or observer that uses torque sensors. This paper proposes a switching notch filter for reducing the torque ripple caused by a harmonic drive in a joint torque sensor; the functioning of this filter is based on the relationship between the frequency components of the torque ripple and the rotational velocity of the harmonic drive. The proposed switching notch filter is advantageous in that it requires less computational load and does not necessitate additional circuits or structures. Various experiments demonstrate that the proposed filter has good filtering performance, fast response, and good switching stability.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.1
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• pp.12-23
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• 1995

Currents driven by irregular waves are modelled using numerical model with various empirical relations improved. Kitaigorodskii's equilibrium equation is refined to account for shoaling effect and used for checking the breaking condition. In order to compute the bottom friction realistically. equivalent roughness blights are estimated considering the ripple shape and bed load transport which may be significant the surf zone. Two sets of equations are employed to evaluate the ripple shape: one is suggested by Nielsen and the other by Madsen and Rogengaus. Both equations give similar shape of ripples. but Madsen et al. give lower value of ripple factor than Swart suggesting that the equivalent roughness becomes relatively small. Optimization technique is used to determine the proper values for the empirical parameters of $\kappa$-ι equations, and the longshore current velocity is computed using the values of empirical parameters determined by the optimization technique.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.4 no.2
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• pp.63-71
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• 1992

A solution method is developed for computing the bed shear stress driven by combined wave and current flow on a natural mobile coastal beach. An empirical equation is introduced to determine the shape of ripples formed on the natural sandy beach. The model being based on the Prandtl's mixing length theory, the effect of arbitrarily-angled interaction is included in the estimation of current velocity reduction and all numerical integrations are expressed by explicit approximate equations to improve the computation speed. In addition the computed sediment transport rates were compared with the measured values reported in literature. using the refined bottom friction model considering the ripple formation.

• Journal of Electrical Engineering and Technology
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• v.12 no.5
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• pp.1991-2000
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• 2017

This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.214-214
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• 2013

Ion beam sputtering (IBS) by collision of energetic ions at surfaces is one of the representative methods for physical self-assembly. It is in spotlight as an easy tool to make nano structures in various sizes and shapes by controlling physical variablesWe investigate nano patterning on graphite. We found well-ordered nano ripple patterns after sputtering under the oblique angle and mean wavelengths of these ripples could be controlled as ion fluence increases from sub-10 nm to 80 nm. Each nano ripple is terminated by nano buds, which look like a cotton bud. We also examined the formation of various patterns on graphite by sputtering during swinging the sample at a constant angular velocity that have been never reported.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.9
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• pp.417-422
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• 2001

The brushless DC motor(BLDCM) is widely used in many applications. One of the application of the BLDCM is the stage which is one of process in the semiconductor manufacturing processes. Very high performance is required in the stage process. In this paper, the 1 degree of freedom positioning system for the basic technology of the stage is studied. The linearization method is proposed to make the controller design procedures easy by measuring the thrust force ripple using the strain gauge. And through the experiments, it is proved that the inner velocity control loop is necessary to make more precise positioning control system.

• Journal of Korea Water Resources Association
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• v.55 no.1
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• pp.23-32
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• 2022

This paper performs two-dimensional numerical simulation of surface water-groundwater coupled flow and solute transport to investigate the effect of the hyporheic exchange at the sediment-water interface (SWI) on surface solute transport. For the impermeable bed case in the absence of hyporheic flow, the trapping effect of flow recirculation associated with the ripple bed controls the shape of breakthrough curves (BTCs). However, the permeable bed case with hyporheic flow stimulates the extended tailing of the BTCs more significantly due to the elevated concentration of the BTC tailing resulting from slow hyporheic velocity. Also, the increased bottom pressure at the SWI with an increase in surface velocity shortens the BTC tailing because of increasing hyporheic velocity. These results infer that hyporhiec flow is critically important in predicting solute residence times in surface water.

• 한국해양학회지
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• v.25 no.2
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• pp.62-73
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• 1990

An experimental study is performed in order to catch the characteristics of the flow field at arrested salt wedge, using a rectangular open channel. Arrested salt wedge is generally so stable that the observations are easy, but velocities and interfacial waves are measured with the aid of visualization method, by injection of fluorescent dyes. The density interface, which is defined as the zone of maximum density variation with depth, exists in about 0.5 cm below the visual interface, and vertical density profile is quite well satisfied with Homeborn model. Interfacial layer has high turbulent intensity and its thickness decreases as the overall Richardson number increases and has magnitude of roughly 17% of upper layer. Cross-sectional velocity distribution just shows the influence of a side-wall friction and in the upper layer vertical velocity profile also becomes uniformly as Reynolds number increases, but in the lower layer it shows nearly parabolic type. Supposes that we divide salt wedge into three domains, that is, river mouth, intermediate and tip zone, entertainment coefficient is small at the intermediate zone and large at the river mouth and the tip zone. River mouth or intermediate zone has comparatively stable interface and capillary wave therefore s produced and propagated downstream. On the other hand, tip zone is very unstable, cusping ripple or bursting ripple is then produced incessantly. Arrested salt wedge form is nearly linear and has no relation to densimetric Froude number and Reynolds number.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.39-46
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• 2009

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.6
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• pp.625-632
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• 1992

This paper presents a new dc-motor position control approached by Variable Structure System. In order to eliminate a steady-state position error, we propose a switching function composed of position error, velocity, and current ripple. The switching function has an advantage compared to other ones. To determine the control signal voltage, we use a fuzzy logic method. The simulation results show expected performances.