• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.422-427
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.12 s.117
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• pp.1286-1293
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• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.3
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• pp.271-279
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• 2011

In this study, the dynamic analysis of a beam is analyzed by using the finite element method when the beam has moving mass and axial load. To consider the contact force between the moving mass and beam, coupled nonlinear equations of contact dynamics are derived, and then the weak form for the finite element method is established. The finite element computer programs based on the Lagrange multiplier method are developed to compute the contact force. Furthermore, a variety of simulations are performed for various design parameters such as moving mass velocity, compressive axial load and tension load. Finally, relations between the dynamic response and contact force are also discussed.

• Structural Engineering and Mechanics
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• v.19 no.1
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• pp.73-96
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• 2005

For the spatially coupled free vibration analysis of shear deformable thin-walled non-symmetric curved beam subjected to initial axial force, an exact dynamic element stiffness matrix of curved beam is evaluated. Firstly equations of motion and force-deformation relations are rigorously derived from the total potential energy for a curved beam element. Next a system of linear algebraic equations are constructed by introducing 14 displacement parameters and transforming the second order simultaneous differential equations into the first order simultaneous differential equations. And then explicit expressions for displacement parameters are numerically evaluated via eigensolutions and the exact $14{\times}14$ dynamic element stiffness matrix is determined using force-deformation relations. To demonstrate the accuracy and the reliability of this study, the spatially coupled natural frequencies of shear deformable thin-walled non-symmetric curved beams subjected to initial axial forces are evaluated and compared with analytical and FE solutions using isoparametric and Hermitian curved beam elements and results by ABAQUS's shell elements.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.3 s.96
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• pp.334-340
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• 2005

A disk-type 3-DOF actuator which has new principle and very simple structure is proposed. Also it utilizes the relation of bias and control fluxes produced by permanent magnets and coils, respectively, like other conventional electromagnetic actuators, but its main feature is that both the coils and permanent magnets are fixed in the stator, which makes it easy to design the shape of moving part. Operating principle is that a moving disk is driven by reaction force of Lorentz force acting on the fixed equivalent coil. Simple analytic approach and FEM analysis are performed to determine the design parameters so as to increase the driving force and distance. And some experimental results show the feasibility of the proposed actuator.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.9 s.114
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• pp.958-963
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• 2006

The motion of a system composed of a plate, constant springs and varying dampers is considered when the system is subject to harmonic force. Letting the frequencies of harmonic force and damper variation $f_1\;and\;f_2$, respectively, the displacement at the center of the plate has the strongest component at frequency $f_1$. The angular displacement of the plate has strong components at $f_1-f_2$ and the natural frequency of the rotational mode of the system. If these two frequencies coincide, the plate oscillates with almost single frequency and a large amplitude. These results can be applied to development of a moment shaker with low frequencies.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.321-326
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• 2013

This paper investigates the magnetic excitation force of a surface-mounted permanent magnet (SPM) motor according to the change of pole/slot combination. The characteristics of magnetic flux and radial magnetic force (RMF) due to pole/slot combination were analyzed by using magnetic circuit analysis. Also, the RMF of motors with the variable pole/slot combination was numerically simulated by using the finite element analysis to verify the result of the magnetic circuit analysis. This research shows that RMF ripple is reduced when the number of pole is smaller than the number of slot.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.60-65
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• 2003

In this study, for estimating responses of a controlled structure and determining the maximum control force of velocity-dependent damping devices, three estimation models such as Fourier envelope convex model, probability model, and Newmark design spectrum are used. For this purpose, a procedure proposed by Gupta (1990) for estimating spectral velocity using pseudo-spectral velocity which is given by the estimation models is used and modified to consider the effects of increased damping ratio by the damping device. Time history results indicate that Newmark design spectrum gives the best estimation of maximum control force for over all period structures.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.81-85
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• 2006

The motion of a system composed of a plate, constant springs and varying dampers is considered when the system is subject to harmonic force. Letting the frequencies of harmonic force and damper variation ${\Large f}_1\;and\;{\Large f}_2$, respectively, the displacement at the center of the plate has the strongest component at frequency ${\Large f}_1$. The angular displacement of the plate has strong components at ${\Large f}_1-{\Large f}_2$, and the natural frequency of the rotational mode of the system. If these two frequencies coincide, the plate oscillates with almost single frequency and a large amplitude. These results can be applied to development of a moment shatter with low frequencies.

• Magazine of the Korean Society of Agricultural Engineers
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• v.34 no.1
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• pp.57-65
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• 1992

The main purpose of this paper is to present both the natural frequencies and mode shapes of tapered beams under tensile axial force. The differential equation governing planar free vibration for tapered beams under tensile axial force is derived as nondimensional form. The three kinds of cross sectional shape are considered in differential equation. The Runge-Kutta method and Determinant Search method are used to perform the integration of the differential equation and to determine the natural frequencies, respectively. The hinged-hinged, hinged-clamped, clamped-clamped and constraints are applied in numerical examples. The lowest four nondimensional natural frequencies are reported as the function of nondimensional tensile axial force. The fundamental natural frequencies are presented when section ratios and nondimensional axial forces are varied. The effects of cross sectional shapes are reported and some typical mode shapes are also presented.