• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.653-657
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• 1996

This paper presents adaptive cutting force control in milling process using indirect cutting force measurement. The cutting forces in X, Y, and Z axes are measured indirectly from the sensing current of the feed-drive servo motor. After modelling the feed-drive system of a horizontal machining center, the relation between the cutting force and the servo motor current is analyzed. The pulsating milling forces are measured from the sensing current within the bandwidth of the servo. It is shown that indirect cutting farce measurement can be used in adaptive cutting force control. The adaptive control scheme which is globally convergent and stable is attached to a commercial CNC machining center. Cutting experiments on end milling are performed for diagonal cutting.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.150-158
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• 2002

Through experimental works, the damping force vibration problem was investigated, which results from valve and surge pressure in the oil return line of the hydraulic circuit of an active suspension system in a passenger cu. Experiments were carried out under passive system, where an orifice valve was closed and non-active system, where an orifice valve was opened, using a pressure control valve controlled by solenoid. The effects of parameters of the valve overlap and accumulator on smoothing surge pressure was elucidated. It was proved that the apparent variation of damping force due to the overlap amount of pressure control valve is the most important factor to control the damping force variation. The procedure of the experimental works shows the development process of a proportional pressure control valve in the hydraulics system of an active suspension system of passenger car.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.65-68
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• 1988

In this paper the application of variable structure control with sliding modes for improving the dynamic response and eliminating chattering of DC servo motor drive is presented. Sliding mode control is an effective means to keep a system insensitive to parameter variation and disturbances. In this method the control structure is changed discontinuously to farce the system dynamic to follow a predetermined trajectory. However the discontinuous change in control structure causes the controller input to chatter and gives non-zero steady state error. To overcome this problem, the discontinuous sign function is replaced by a proper continuous function, and presented through experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.255-260
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• 2004

Existing flapping MAV which is driven by motors or the other materials, has various defects. For the settlement of the issue, flapping MAV wing actuator is developed by using ADE(Acrylic Dielectric Elastomer). In comparison with existing materials which drive flapping wing, ADE has advantages of light weight as well as sufficient force. In order that correct lift farce occurs at this actuator, it must require to control to approach given reference. So it is controlled to approach given displacement by using fuzzy algorithm and is verified through simulation.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.459-462
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• 2002

Many active and passive flow control methods have been studied since decades, but there are only few works about flow control methods using ion wind. This paper presents an experimental study on the wake control behind a circular cylinder using ion wind, a bulk motion of neutral molecules driven by locally ionized air of corona discharge. Experiments are done f3r different electrohydrodynamic numbers - the ratio of an electrical body farce to a fluid Inertial force - from 0 to 2 and for the Reynolds number ranging from $4{\times}10^3\;to\;8{\times}10^3$. Pressure distributions over a cylinder surface are measured and flow visualizations are carried out by smoke wire method. Flow visualizations confirm that ion wind affects significantly the wake structure behind a circular cylinder and pressure drag could be dramatically reduced by the superimposing ion wind.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.1974-1980
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• 2001

The control algorithm of a new type self-bearing step motor is presented. The motor actuator is used for both motor and bearing functionality without any redundant coil windings or redundant electromagnets. The self$.$bearing step motor layout and its control method are described. A linearized farce-current-displacement relationship is derived. As the result of the unbalance response approach, the constant torque production is possible fur the supply current regulation algorithm. And even if the bearing functionality is added in the motor functionality, no additional current for bearing functionality is possible, and this leads to minimize the net power loss. Also, the unbalance response shows the independent bearing force and motor torque.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.297-300
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• 2002

In this study, the deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed and carried out theoretically and experimentally on the basis of Rosensweig Ferrohydrodynamic Bernoulli Equation. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body farce. In case, magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. thus, the device of a magnetic fluid proposed the surface actuator. The device of surface deformation as well comparison between numerical simulation and experiments as will be presented.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.416-421
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• 2002

The purpose of t his paper is to database each factors from experimental results and develop the servo-controlled feeding system on these database. At first, spring back and bending farce are analyzed by basic theory of bending processing. In database, through practical experiment by the expert various types of bending angel and thickness of plate are tested and classified with SB34P and Aluminum. For the development of servo-controlled feeding system, automatic feeding system is designed and manufactured with ball screw and LM guide and performance of the developed feeding system is tested under condition of standard machine tool examination. Also, Mechanical consideration of mainframe in press brake, development of controller based on NC, program for servo-control are studied. Finally, based on experimental data, the system is operated and compared with theoretical data

• Transactions of The Korea Fluid Power Systems Society
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• v.1 no.3
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• pp.1-6
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• 2004

In the last few years, a considerable number of studies have been made on On-Off solenoid for fluid control. But, only few attempts have so far been made at solenoid actuator for high-voltage circuit breaker. In case of the high-pressure and high-flow system like high-voltage circuit breaker, a big size of On/Off solenoid is necessary which size is proportional to control pressure and flow rate. So, it is non-effective in the view point of system optimization. In this paper, On/Off solenoid actuator with the farce amplifier connected to the solenoid rod was proposed to get a high mechanical force and a fast response time. The magnetic force and the mechanical stress distributions were analysed using finite element analysis. The performances of suggested solenoid actuator were evaluated through the experimental results and compared with the analysis results.