• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.228-230
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• 2005

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system, the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used for solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage tables's vibrations, a digital controller with high precise signal converters. and electromagnetic actuators.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.38 no.5
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• pp.316-322
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• 2005

In order to develop a floating breakwater, which can efficiently control long period waves, vertical plates are attached in pontoon. Wave control and dynamic behaviors of the newly developed vertical plates type are verified from numerical analysis and hydraulic experiment. As a result, for the wave control and energy dissipation, the newly developed vertical plates type is more efficient than the conventional pontoon type. For the floating body motion, the wave transmission, depending on incident wave period, is decreased at the natural frequency. Dimensionless drift distance has similar trend of the reflection rate of wave transformation near natural frequency except maximum and minimum values. Dimensionless maximum tension is 17 percent of the weight of floating breakwater in case of the conventional pontoon type and 18 percent or 14 percent in case of the newly developed vertical plates type. Thus, it is shown that the wave control is improved by the vertical plates type. In addition, by adjusting the interval of the front and back vertical plate, we would control proper wave control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.895-901
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• 1993

This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.28 no.1
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• pp.35-48
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• 1995

To develop the optimal design method for the longline type scallop culturing facilities in the open sea numerical calculations and hydraulic model experiments are carried out for the stability and function optimization. Using the results for the motion and tension of the facilities, stable design concepts and effects of motion control system by vertical anchor and resistance discs art discussed. The results of this study that can be applied to the design are as follows: 1) Total external forces by design wave $(H_{1/3}\;=\;6,7\;m,\;T_{1/3}\;=\;12sec)$ at the coastal waters of Jumunjin for unit facility (one main line) are estimated to 5-20 tons, and required anchor weights are 10-40 tons in the case of 2-point mooring system. Though the present facilities are stable to steady currents, but is unstable to the extreme wave condition of return period of 10 years. 2) The dimensions and depth of array systems must be designed considering the ecological environments as well as the physical characteristics including the mooring and holding forces that are proportional to the length and relative depth of main line to wave length, and the number of buoys and nets. 3) Oscillation of the facility is influenced by water particle motion and the weight of hanging net, and is excited at both edge, especially at the lee side. To reduce the motion of the nets, the vertical anchoring system and the resistence disc method are recommended by the experimental results, 4) The damage of rope near the anchor by abrasion should be prevented using the ring-type connection parts or anchor chains.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.2
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• pp.335-341
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• 2016

In general, a yawing motion concept is used for the lateral control of one wheel robot where the gimbal system is located horizontally. In this paper, another concept of the vertically located gimbal system is presented for the same purpose. Although the vertical concept undergoes an instability more easily than the horizontal one, the pitching motion of the gyroscopic effect is considered. Firstly, the trade-off relation between two balancing concepts are investigated by comparing the gyroscopic mechanism. Secondly, the dynamic model for the problem of the proposed concept is derived using the oscillatory inverted stick model. Thirdly, the stability of the model is analyzed using the phase trajectory method. Finally, the control performance of the system by a vibration controller is simulated.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.959-966
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• 2009

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

• Journal of Navigation and Port Research
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• v.38 no.2
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• pp.97-103
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• 2014

In these days, the world has been increasing navy forces such as aircraft carriers and high-tech destroyers etc. and the importance of submarines is being emphasized. Therefore, accurate values of the derivatives in equations of motion are required to control motion of the submarines. Hydrodynamic derivatives were measured by the vertical planar motion mechanism(VPMM) model test. VPMM equipment gave pure heave and pitch motion respectively to the submarine model and the forces and moments were acquired by load cells. As a result, the hydrodynamic derivatives of the submarine are provided through the Fourier analysis of the forces and moments in this paper.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.121-124
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• 2004

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force fer suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system. the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used fer solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage table's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.7
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• pp.862-871
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• 2003

In this paper, we addressed a modeling for the magnetic levitation stage. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for propulsion. Therefore. this stage can generate six degrees of freedom motion by the combination of forces. We derived a mechanical dynamics equation using Lagrangian method and electromechanical dynamics equation by using Co-energy method. Based on the derived dynamics, we can analyze the stage motion that is subject to the input currents and forces.