• 대한기계학회논문집A
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• 제26권3호
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• pp.452-460
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• 2002

The precision stage using a novel contact-free planar actuator based on magnetic farces, magnetized force and Lorentz farce, is suggested. In the promising magnetic structure, the mover is driven directly without any transmission mechanism, and doesn't need any auxiliary driver for its posture calibration. Then it is estimated that the proposed operating principle is very suitable for work requiring high accuracy and cleanness, or general-purpose nano-stage. In this paper, we discuss a driving principle of the planar system including the magnetic force generation mechanism, a framework for the force model, governing characteristics of the levitated plate, and a planar motion control of the constructed prototype. And experimental results are given to verify the derived theoretical model and a feasibility of the system.

• 한국작물학회지
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• 제44권1호
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• pp.78-85
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• 1999

To investigate kernel hardness, a compression test which is widely used to measure the hardness of individual kernels as a physical testing method was made simultaneously with the measurement of friabilin (15KDa) which is strongly associated with kernel hardness and was recently developed as a biochemical marker for evaluating kernel hardness in 79 Korean wheat varieties and experimental lines. With the scattered diagram based on the principal component analysis from the parameters of the compression test, 79 Korean wheat varieties were classified into three groups based on the principal component analysis. Since conventional methods required large amount of flour samples for analysis of friabilin due to the relatively small amount of friabilin in wheat kernels, those methods had limitations for quality prediction in wheat breeding programs. An extraction of friabilin from the starch of a single kernel through cesium chloride gradient centrifugation was successful in this experiment. Among 79 Korean wheat varieties and experimental lines 50 lines (63.3%) exhibited a friabilin band and 29 lines (36.7%) did not show a friabilin band. In this study, lines that contained high maximum force and the lower ratio of minimum force to maximum force showed the absence of the friabilin band. Identification of friabilin, which is the product of a major gene, could be applied in the screening procedures of kernel hardness. The single kernel analysis system for friabilin was found to be an easy, simple and effective screening method for early generation materials in a wheat breeding program for quality improvement.

• 로봇학회논문지
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• 제14권4호
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• International Journal of Automotive Technology
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• 제3권2호
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• pp.53-56
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• 2002

A new generation of the BMW child seat and occupant detection system SBE2 far a smart airbag system is described. The SBE2 system consists of two subsystems: OC (Occupant Classification) and FDS (Field Detection System). The OC system is a force sensitive sensor array that measures a pressure profile. The FDS system detects child seat and occupant according to the change of electrical field generated by four capacitive plates. Combining the signals from both subsystems, the BMW SBE2 system can distinguish fully automatically between a child seat and a person.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권3호
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• pp.317-324
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• 2014

The forces involved in the firing of the electromagnetic rail gun may be analyzed from Amperian, Maxwellian and Einsteinian approaches. This paper discusses these different paradigms with regard to rail gun performance modeling relating to the generation and balance of the forces caused by the currents and their induced magnetic fields. Recent experimental work on model rail guns, where the armature is held static, shows very little recoil upon the rails, thereby indicating a possible violation of Newton's Third Law of Motion. Dynamic testing to show this violation, as suggested by the authors in an earlier paper, has inherent technical difficulties. A purpose-built finite element C/C++ simulator that models that suspended rail gun firing action shows a net force acting upon the entire rail gun system. A new effect in physics, universal in scope, is thus indicated: a current circulating in an asymmetric and rigid circuit causes a net force to act upon the circuit for the duration of the current. This conclusion following from computer simulation based upon Maxwellian electrodynamics as opposed to the more modern relativistic quantum electrodynamics needs to be supported by unambiguous experimental validation.

• 한국정밀공학회지
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• 제19권9호
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• pp.157-165
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• 2002

The design of hydraulic & control system has been developed for the disc spinning machine. The hydraulic system has been designed in the overall system including the vertical & horizontal slide fur spinning works which are controlled by hydraulic servo valves in right & left side, and the clamping slide for holding & pressing blank material in center during spinning process. Based on the design concept of this hydraulic system, model test experiments for hydraulic servo control system is tested to conform confidence and applying possibility. The control system is introduced with the fuzzy-sliding mode controller for the hydraulic force control reacting force as a disturbance, because a fuzzy controller does not require an accurate mathematical model for the generation of nonlinear factors in the actual nonlinear plant with unknown disturbances and a sliding controller has the robustness & stability in mathematical control algorithm. We conform that the fuzzy-sliding mode controller has a good performance in force control for the plant with a strong disturbance. Also, we observe that a steady state error of the fuzzy-sliding mode controller can be reduced better than those of an another controllers.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.176-183
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• 2009

This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).

• Ocean Systems Engineering
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• 제11권1호
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• pp.1-16
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• 2021

Experimental and numerical investigations were conducted to study the performance of a surface-fixed horizontal porous wave barrier in regular waves. The characteristics of the reflection and transmission coefficients, energy dissipation, and vertical wave force were examined versus different porosities of the barrier. Numerical simulations based on 3D Reynolds Averaged Navier-Stokes equations with standard low-Re k-ε turbulent closure and volume of fluid approach were accomplished and compared with the experimental results conducted in a 2D wave tank. Experimental measurements and numerical simulations were shown to be in satisfactory agreement. The qualitative wave behavior propagating over a horizontal porous barrier such as wave run-up, wave breaking, air entrapment, jet flow, and vortex generation was reproduced by CFD computation. Through the discrete harmonic decomposition of the vertical wave force on a wave barrier, the nonlinear characteristics were revealed quantitatively. It was concluded that the surface-fixed horizontal barrier is more effective in dissipating wave energy in the short wave period region and more energy conversion was observed from the first harmonic to higher harmonics with the increase of porosity. The present numerical approach will provide a predictive tool for an accurate and efficient design of the surface-fixed horizontal porous wave barrier.

• 한국군사과학기술학회지
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• 제10권1호
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• pp.130-143
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• 2007

Using steady state aerodynamic theories, it has been claimed that insects and birds cannot fly. To make matters worse, insects and birds fly at low Reynolds numbers. Therefore, a recurring theme in the literature is the importance of understanding unsteady aerodynamic effect and how the vortices behave when they separate from the moving surface that created them. In flapping flight, birds and insects can modify wing beat amplitude, stroke angle, wing planform area, angle of attack, and to a lesser extent flapping frequency to optimize the generation of lift force. Some birds are thought to employ two different gaits(a vortex ring gait and a continuous vortex gait) and unsteady aerodynamic effect(Clap and fling, Delayed stall, Wake capture and Rotational Circulation) in flapping flight. Leading edge vortices may produce an increase in lift. The trailing edge vortex could be an important component in gliding flight. Tip vortices in hovering support the body weight of the hummingbirds. Thus, this study investigated how insects and birds generate lift at low Reynolds numbers. This research is written to further that as yet incomplete understanding.

• Wind and Structures
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• 제39권1호
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• pp.47-69
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• 2024

Pounding of structures may result in considerable damages, to the extent of total failure during severe lateral loading events (e.g., earthquakes and wind). With the new generation of tall buildings in densely occupied locations, wind-induced pounding becomes of higher risk due to such structures' large deflections. This paper aims to develop mathematical formulations to determine the maximum pounding force when two adjacent structures come into contact. The study will first investigate wind-induced pounding forces of two equal-height structures with similar dynamic properties. The wind loads will be extracted from the Large Eddy Simulation models and applied to a Finite Element Method model to determine deflections and pounding forces. A Genetic Algorithm is lastly utilized to optimize fitting parameters used to correlate the maximum pounding force to the governing structural parameters. The results of the wind-induced pounding show that structures with a higher natural frequency will produce lower maximum pounding forces than those of the same structure with a lower natural frequency. In addition, taller structures are more susceptible to stronger pounding forces at closer separation distances. It was also found that the complexity of the mathematical formula from optimization depends on achieving a more accurate mapping for the trained database.