• Structural Engineering and Mechanics
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• 제59권6호
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• pp.973-992
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• 2016

A direct and relatively simple method for controlling nodal displacements and/or internal bar forces has been developed for prestressable structural assemblies including complex elements ("macro-elements", e.g., the pantographic element), involving Matrix Condensation, in which structural matrices being built up from matrices of elementary elements. The method is aimed at static shape control of geometrically sensitive structures. The paper discusses identification of the most effective bars for actuation, without incurring violation in bar forces, and also with objective of minimal number of actuators or minimum actuation. The advantages of the method is that the changes for both force and displacement regimes are within a single formulation. The method can also be used for adjustment of bar forces to either reduce instances of high forces or increase low forces (e.g., in a cable nearing slack).

• Journal of Power Electronics
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• 제16권4호
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• pp.1256-1267
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• 2016

Distributed stray inductance exerts a significant influence on the turn-off voltages of power switching devices. Therefore, the design of low stray inductance bus bars has become an important part of the design of high-power converters. In this study, we first analyze the operational principle and switching transient of a T-type converter. Then, we obtain the commutation circuit, categorize the stray inductance of the circuit, and study the influence of the different types of stray inductance on the turn-off voltages of switching devices. According to the current distribution of the commutation circuit, as well as the conditions for realizing laminated bus bars, we laminate the bus bar of the converter by integrating the practical structure of a capacitor bank and a power module. As a result, the stray inductance of the bus bar is reduced, and the stray inductance in the commutation circuit of the converter is reduced to more than half. Finally, a 10 kVA experimental prototype of a T-type converter is built to verify the effectiveness of the designed laminated bus bar in restraining the turn-off voltage spike of the switching devices in the converter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.971-975
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• 2005

In this study, a car-door-controlled collision protection system using proximity sensor is proposed and its preliminary analysis and several preliminary experiments are conducted. The proposed system has three additional sub-components on the car-door that is, a pair of extra electro-magnetic actuator that are attached to the sliding bar of the open/close car-door four-bar mechanism, a proximity sensor that would be attached to the outside surface of the door which is likely to frequently contact to the object and a driving control circuit of the whole system. A proximity sensor is used to detect object close to the car-door, the driving control circuit provides actuating power command to the electro-magnets to generate braking force to stop the swing motion of the car-door. It is verified through kinematic analysis of the four-bar car-door open/close mechanism and through experiments that the magnitude of maximum electronic magnetic force could provide the braking force enough for this application. For this purpose, an electro-magnet driving circuit is implemented and tested. And also to increase the safety of the system a time delay circuit is implemented and tested.

• 수산해양기술연구
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• 제17권2호
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• pp.85-91
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• 1981

평판 강괴를 연속적으로 주조할 경우에 초기주조 상태에서 Mold 내부의 Support bar 및 용강자중, 주조속도, 용강두께, 이를 지지하는 제어 Roller, 유압기구, 구동 Motor, 그리고 주조조직의 응고 등이 용강의 인발력을 유도하는 Pinch Roller와의 사이에서 동력학적 부평형을 일으켜 Slip 현상을 초래하므로 본 논문에서는 이상의 제요인들을 근거로 Slip 현상을 규명하는 식을 유도하고 강괴의 주조속도, 비중량, 두께의 변화에 대한 Slip Force 거동을 규명하였다. 그 결과 1. 본 논문의 해석식에 의하여 평판강괴 연속주조용 Pinch Roller의 적정압을 설계할 수 있다. 2. 비중량은 순수히 자중만 증가시키는 요인이며 Slip Force는 주조속도변화에 대해서 포물선적으로 증가한다. 3. 주조두께 및 비중량의 변화에 대한 Slip Force는 이에 비례하여 증가하나 특히 두께의 값이 소폭보다 대폭에서 그 변화 값이 크게 나타났다.

• Architectural research
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• 제8권2호
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• pp.37-42
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• 2006

Starting from the quadratic optimal control algorithm, this study obtains the relation of the performance index for constrained systems and Gauss's principle. And minimizing a function of the variation in kinetic energy at constrained and unconstrained states with respect to the velocity variation, the dynamic equation is derived and it is shown that the result compares with the generalized inverse method proposed by Udwadia and Kalaba. It is investigated that the responses of a 10-story building are constrained by the installation of a two-bar structure as an application to utilize the derived equations. The structural responses are affected by various factors like the length of each bar, damping, stiffness of the bar structure, and the junction positions of two structures. Under an assumption that the bars have the same mass density, this study determines the junction positions to minimize the total dynamic responses of the structure.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.89-92
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• 1996

In this paper, we developed visual tracking algorithm using double active bar. The active bar model to represent the object can reduce the search space of energy surface and better performance than those of snake model. However, the contour will not find global equilibrium when driving force caused by image may be weak. To overcome this problem. Double active bar is proposed for finding the global minimum point without any dependence on initialization. To achieve the goal, an deformable model with two initial contours in attempted to search for a global minimum within two specific initial contours. This approach improve the performance of finding the contour of target. To evaluate the performance, some experiments are executed. We can achieved the good result for tracking a object on noisy image.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.51.4-51
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• 2002

$\textbullet$ A noval haptic mouse system is developed for human computer interface. $\textbullet$ Five bar mechanism is adapted for 2 dof force feedback with virtual environment. $\textbullet$ Double prismatic joint type mechanism is adapted to reflect 1 dof grabbing force feedback. $\textbullet$ Cable driven mechansim is used for actuation to reduce backlash and endow backdrivability. $\textbullet$ Virtual wall perception experiment is conducted to obtain force specification for haptic mouse. $\textbullet$ Average mouse workspace is measured using magnetic position tracker.

• The Journal of Advanced Prosthodontics
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• 제14권1호
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• pp.12-21
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• 2022

PURPOSE. The purpose of this study was to investigate changes in retention and wear pattern of Locator^® and ADD-TOC attachments on a digital milled bar by performing chewing simulation and repeated insertion/removal of prostheses in fully edentulous models. MATERIALS AND METHODS. Locator (Locator^®; Zest Anchors Inc., Escondido, CA, USA) was selected as the control group and ADD-TOC (ADD-TOC; PNUAdd Co., Ltd., Busan, Republic of Korea) as the experimental group. A CAD-CAM milled bar was mounted on a master model and 3 threaded holes for connecting a bar attachment was formed using a tap. Locator and ADD-TOC attachments were then attached to the milled bar. Simulated mastication and repeated insertion/removal were performed over 400,000 cyclic loadings and 1,080 insertions/removals, respectively. Wear patterns on deformed attachment were investigated by field emission scanning electron microscopy. RESULTS. For the ADD-TOC attachments, chewing simulation and repeated insertion/removal resulted in a mean initial retentive force of 24.43 ± 4.89 N, which were significantly lower than that of the Locator attachment, 34.33 ± 8.25 N (P < .05). Amounts of retention loss relative to baseline for the Locator and ADD-TOC attachments were 21.74 ± 7.07 and 8.98 ± 5.76 N (P < .05). CONCLUSION. CAD-CAM milled bar with the ADD-TOC attachment had a lower initial retentive force than the Locator attachment. However, the ADD-TOC attachment might be suitable for long-term use as it showed less deformation and had a higher retentive force after simulated mastication and insertion/removal repetitions.