• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.2042-2048
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• 2004

A molecular dynamics study has been conducted on an external-force-field-induced isothermal crystallization process of amorphous structures as a new low-temperature athermal crystallization process. An external cyclic-force field with a dc bias is imposed on molecules selected randomly in an amorphous-phase of argon. Multiple peaks smoothed out in the radial distribution functions for amorphous states appear very clearly during the crystallization process that cannot be achieved otherwise. When the amorphous material is locally exposed to an external force field, crystallization starts and propagates from the interfacial region and crystallization growth rates can be estimated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.96-100
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• 2007

Condenser lens and objective lens are used to demagnify the image of the crossover to the final spot size. In lens, electrons are focused by magnetic fields. This fields is fringing field. It is important in electron focusing. Electron focusing occurs the radial component field and axial component field. Radial component produces rotational force and axial component produces radial force. Radial force causes the electron's trajectory to curve toward the optic axis and corss it. Focal length decreases as the current of lens increases. In this paper, we use the focal length for desiging the hardware of lens current control and present the results.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.171-181
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• 2004

An autonomous navigation algorithm for marine vehicles is proposed in this paper using fuzzy logic under COLREG guidelines. The VFF (Virtual Force Field) method, which is widely used in the field of mobile robotics, is modified for application to the autonomous navigation of marine vehicles. This Modified Virtual Force Field (MVFF) method can be used in either track-keeping or collision avoidance modes. Moreover, the operator can select a track-keeping pattern mode in the proposed algorithm. The collision avoidance algorithm has the ability to handle static and/or moving obstacles. The fuzzy expert rules are designed deliberately under COLREG guidelines. An extensive simulation study is used to verify the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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• pp.124-130
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• 2005

Obstacle avoidance of underwater robots based on a modified virtual force field algorithm is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robots, is modified for application to the obstacle avoidance of underwater robots. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy lgoc can be used in moving obstacles avoidance. A fuzzy algorithm is devised to handle various situations which can be faced during autonomous navigation of underwater robots. The proposed obstacle avoidance algorithm has ability to handle multiple moving obstacles. Results of simulation show that the proposed algorithm can be efficiently applied to obstacle avoidance of the underwater robots.

• Proceedings of the KIEE Conference
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• 2009.04b
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• pp.198-200
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• 2009

This paper presents the numerical simulation results on the moving type electrodynamic suspension (EDS) simulator. Superconducting EDS system is generated by the interaction between the magnetic field made by the induced the eddy current in the ground conductor and the moving magnetic field made by onboard superconducting magnet. The levitation force of EDS system, which is proportional to the strength of the moving magnetic field, becomes saturated according to the increase of the velocity Especially, the levitation force is influenced by the structure of HTS magnet and ground conductor. The 3-D numerical analysis with FEM was used to find the distribution of the magnetic field, the optimal coil structure, and the calculation of the levitation force.

• International Journal of Railway
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• v.8 no.1
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• pp.1-4
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• 2015

An accurate measurement of the train-track interaction forces is important for track performance evaluation. In the field calibration test as a wheel load measurement process, the calibration system creates a different boundary condition in comparison with that in the train wheel passage. This study aims to evaluate a reliability of the field calibration test in the process of wheel load measurement. Finite element models were developed to compare the deformed shapes, bending moment and shear force profiles on the rail section. The analysis results revealed that the deformed shapes and their associated bending moment profiles on the rail are significantly different in two numerical simulations of the calibration test and the train wheel load passage. However, the shear stress profile on the rail section of the strain gauge installation in the field was almost identical, which may imply that the current calibration test is sufficiently reliable.

• Proceedings of the Korean Fiber Society Conference
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• 2001.04b
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• pp.131-134
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• 2001

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Journal of Electrical Engineering and information Science
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• v.2 no.4
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• pp.66-71
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• 1997

The dielectrophoretic(DEP) force acting on a cell in an electric field is experimentally determined. A cell is accelerated by the DEP force in an electric field generated between micro planar electrodes. the position of the cell is measured and the velocity and acceleration of the cell are calculated based on the measured position data. The DE force is determined from the motion equation of a moving cell in suspension. The electrode structure is fabricated by micromachining technology and the height of electrodes is 1 $\mu\textrm{m}$. Radish cell and yeast are used in th experiments. In the case of radish cell, the DEP force increases as voltage or frequency(1MHz∼3MHz) increases. The voltage dependence can be explained that the DEP force increases when ▽│E│$^2$increases. The frequency dependence means that Re[x\ulcorner] of radish cell is maximized in a certain frequency. In the case of yeast, the DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force on a yeast does not vary when the frequency varies from 1MHz to 3MHz. This result coincides with the fact that the value of calculated Re[x\ulcorner] is constant in the test frequency range.