• Journal of Electrical Engineering and Technology
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• v.5 no.3
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• pp.462-467
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• 2010

This paper presents the rotor shape optimization of an interior type permanent magnet (IPM) motor for a reduction of vibration and Electromagnetic Interference (EMI). The vibration and EMI in permanent magnet motors is generated by cogging torque ripple, radial force and commutation torque ripple. Consequently, in order to improve vibration and EMI, the optimal notches are put on the rotor pole with an arc shape proposed. The variation of vibration frequency due to the cogging torque and radial force of each model is computed by the finite element method (FEM). From the analysis result and experiment, we confirmed the proposed model has remarkably improved the vibration and EMI.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.75-83
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• 2006

The purpose of this study was to investigate steady-state force depression following active muscle shortening in human tibialis anterior muscle during voluntary contractions. Subjects (n = 7; age $24{\sim}39$ years; 7 males) performed isometric reference contractions and isometric-shortening-isometric contractions, using maximal voluntary effort. Force depression was assessed by comparing the steady-state isometric torque produced following active muscle shortening with the purely isometric reference torque obtained at the corresponding joint angle. In order to test for effects of the shortening conditions on the steady-state force depression, the speed of shortening were changed systematically in a random order but balanced design. Ankle dorsiflexion torque and joint angle were continuously measured using a dynamometer. During voluntary contractions, muscle activation of the tibialis anterior and the medical gastrocnemius was recorded using surface electromyography. Force depression during voluntary contractions, with a constant level of muscle activation, was 12 %, on average over all subjects. Force depression was independent of the speeds of shortening ($13.8{\pm}2.9%$, $10.3{\pm}2.6%$ for 15 and 45 deg/sec over 15 deg of shortening, respectively). The results of this study suggest that steady-state force depression is a basic property of voluntarily-contracting human skeletal muscle and has functional implication to human movements.

• Journal of Magnetics
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• v.19 no.4
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• pp.411-417
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• 2014

This paper presents the shape optimization of a permanent magnet synchronous motor to reduce the torque ripple and iron loss. Specifically, the harmonics of the electromotive force and cogging torque are decreased by adjusting the permanent magnet arrangement and non-uniform air gap length. In addition, an additional flux path along the q-axis is proposed with a unique rotor shape to increase the q-axis inductance and reluctance torque. The improvement in the performance of the proposed model is verified with simulated and experimental results.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.340-342
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• 2007

This paper presents the grip force control of myoelectric hand prosthesis according to myoelectric signal generated in the human muscle. The control system consist of a controller for driving DC motor, torque sensor for measuring out torque of motor, slip sensor for detecting slip of torque. The experimental results proved the reliability of proposed control system.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.3
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• pp.214-219
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• 2003

This paper includes real-time tractive force estimation method using standard vehicle sensors such as wheel speed, brake pressure, throttle position, engine speed, and transmission carrier speed sensor. Engine map, torque converter lookup table, shaft torque observer, and brake gain adaptation method are used to estimate the tractive force. To verify this estimator, measurement which uses strain-based brake torque sensor and estimation results are presented. All results was performed using a real vehicle in a real-time.

• Journal of Magnetics
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• v.18 no.4
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• pp.432-442
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• 2013

For magnetically suspended flywheel (MSFW) with gimballing capability, demerits of Lorentz force-type magnetic bearings and common reluctance force-type magnetic bearings are analyzed, a novel reluctance forcetype magnetic bearing (RFMB) including radial and axial magnetic bearing units with 4 separate biased permanent magnets and two conical stators is presented. By equivalent magnetic circuits' method, its magnetic properties are analyzed. To reduce the eddy loss, it was designed as radial poles with shoes and its rotor made of Iron-based amorphousness. Although the uniformity of magnetic flux density in the conical air gap determines mainly the additional tilting torque, the maximum additional tilting torques is 0.05Nm and the rotor tilting has no influence on its forces when the rotor tilts or the maximum changes does not exceed 14% when the rotor drifts and tilts simultaneously. The MSFW with this RFMB can meet the maneuvering requirement of spacecraft theoretically.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1042-1048
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• 2016

This paper presents a lateral displacement restoring force control for the independently rotating wheelsets (IRWs) of shallow-depth subway systems. In the case of the near surface transit, which has recently been introduced, sharp curved driving performance is required for the city center service. It is possible to decrease the curve radius and to improve the performance of the straight running with the individual torque control. Therefore, the individual torque control performance of the motor is the most important point of the near surface transit. This paper deals with a lateral displacement restoring force control for sharp curved driving. The validity and usefulness of the proposed control algorithm is verified by experimental results using a small-scale bogie system.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1683-1689
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• 2017

Wheelsets are an important component affecting the dynamic characteristics of railway vehicles. Research on wheelsets has been conducted for a long time. It is possible to generate the restoring force by the individual torque control of the left and right wheels in the independently rotating wheelsets (IRWs). Although this method solves the problems of conventional wheelsets, such as the solid axle wheelsets, the restoring force control must be added to the existing traction force control, and the restoring force requires a higher precision and quicker response than the traction force. In this paper, we study the robust control strategy of wireless trams with independently rotating wheelsets. The interior permanent magnet synchronous motor (IPMSM) and the controller with the actual scale wireless tram are designed to verify the torque control performance. Moreover, we propose an open loop control method to test and verify the traction and restoring force control algorithm of the IRWs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.299-300
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• 2009