• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• Journal of international Conference on Electrical Machines and Systems
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• 제3권4호
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• pp.362-366
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• 2014

In recent years, a permanent magnet linear synchronous motor (PMLSM) has been used in various kinds of transportation applications for its relative high power density and efficiency. The general transportation system arranges the armature on the full length of transportation lines. However, when this method is applied to long distance transportation system, it causes increase of material cost and manufacturing time. Thus, in order to resolve this problem, we suggested stationary discontinuous armature PMLSM. However, the stationary discontinuous armature PMLSM contains the edges which always exist as a result of the discontinuous arrangement of the armature. These edges become a problem because the cogging force that they exert bad influences the controllability of the motor. Therefore, in this paper we proposed the combination of skewed magnets and stair shape auxiliary teeth to reduce the force by edge effect. Moreover, we analyzed the influence of the design factors by using a 3-D finite element method (FEM) simulation tool.

• 대한기계학회논문집A
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• 제28권10호
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• pp.1574-1582
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• 2004

Binary manipulators have recently received much attention due to hyper-redundancy, light weight, good controllability and high reliability. The precise positioning of the manipulator end-effecter requires the use of many modules, which results in a high-dimensional workspace. When the workspace dimension is large, existing inverse kinematics methods such as the Ebert-Uphoff algorithm may require impractically large memory size in determining the binary positions of all actuators. To overcome this limitation, we propose a new inverse kinematics algorithm: the inverse kinematics problem is formulated as an optimization problem using real-valued design variables, The key procedure in this approach is to transform the integer-variable optimization problem to a real-variable optimization problem and to push the real-valued design variables as closely as possible to the permissible binary values. Since the actual optimization is performed in real-valued design variables, the design sensitivity becomes readily available, and the optimization method becomes extremely efficient. Because the proposed formulation is quite general, other design considerations such as operation power minimization can be easily considered.

• Journal of Advanced Marine Engineering and Technology
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• 제36권2호
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• pp.315-320
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• 2012

일반적으로 저압 회로 보호용 장치로는 ICCB(Insulated case circuit breakers), PCB(Power circuit breakers) 그리고 MCCB(Molded case circuit breakers)를 들 수 있다. 이들 중 가장 보편적으로 사용되는 배선용 차단기(MCCB)는 휴즈 또는 개폐기의 단점인 안전성, 제어성, 협조성 등을 보완한 것이다. 차단기의 성능은 사고전류 발생 시 트립 동작이 순간적이고, 절연능력이 뛰어나야 하므로 매우 중요하다. 따라서 차단기의 개폐 성능은 매우 중요하므로 개폐 기구부의 접촉자 구조 및 접점 그리고 링크구조 등에 대한 기구학적 연구가 필요하다. 본 논문에서는 저압차단기의 기구적 동역학 모델링과 해석을 수행하여 가동자의 개리속도가 빠를수록 차단특성에 유리하다는 결론을 얻었으며, 실제 실험을 통하여 이를 검증하였다.

• Smart Structures and Systems
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• 제15권6호
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• pp.1481-1501
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• 2015

MR-TLCD (Magneto-Rheological Tuned Liquid Column Damper) is a new developed vibration control device, which combines the traditional passive control property with active controllability advantage. Based on traditional TLCD governing equation, this study further considers MR-fluid viscosity in the equation and by transforming the non-linear damping term into an equivalent linear damping, a solution can be obtained. In order to find a countable set of parameters for the design of the MR-TLCD system and also to realize its applicability to structures, a series of experimental test were designed and carried out. The testing programs include the basic material properties of the MR-fluid, the damping ratio of a MR-TLCD and the dynamic responses for a frame structure equipped with the MR-TLCD system subjected to strong ground excitations. In both the analytical and experimental results of this study, it is found that the accurately tuned MR-TLCD system could effectively reduce the dynamic response of a structural system.

• 드라이브 ㆍ 컨트롤
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• 제16권4호
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• pp.56-64
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• 2019

Recently, as the environmental regulation for earth moving equipment has been tightened, advanced systems using electronic control have been introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control systems that provides more flexible controllability and potential for energy savings in excavators, when compared to the conventional 4-way spool valve system. To fully realize an IMV, a two-stage bi-directional flow control valve which can regulate the large amount of flow in both directions, should be developed in advance. A simple design that allows proportional flow control to apply the pilot pressure from the current-controlled solenoid to the spring loaded flow control spool and thus valve displacement, is proportional to the solenoid current. However, this open-loop type valve is vulnerable to flow force which directly affects the valve displacement. Force feedback servo of which the position loop is closed by the feedback spring which interconnects the solenoid valve and flow control spool, could compensate for the flow force. In this study, linearity for the solenoid current input and robustness against load pressure disturbance is investigated by linear analysis of the static nonlinear equations for the IMV proportional flow control valve with feedback spring. Gains of the linear system confirm the performance improvement with the feedback spring design.

• 한국기계가공학회지
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• 제16권5호
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• pp.78-84
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• 2017

Compared to other types of power, hydraulic energy is the most commonly used for heavy vehicles and ships because it has fewer location and space constraints, and its controllability can be maintained even under adverse conditions. Operators have controlled a main control valve of ship winches by pushing or pulling the lever, which is directly connected to the spool. However, because of the spatial arrangement, the importance of remote control valves has emerged. In this paper, experiments of the hysteresis characteristics were performed by analyzing the remote-control valve using a valve tester and RA2300. The validity was verified by comparing with the analytical model using SimulationX as the hydraulic analysis program. This study examined the effects of the spool's notch (Non, End-mill, and Spherical) and the effects of stiffness and pre-load of the spool spring on Spool stroke, open area, and hysteresis characteristics. It is considered possible to reduce the cost and the, trial and error process in designing remote-control valves in the future.

• 한국정보통신학회논문지
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• 제2권2호
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• pp.231-239
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• 1998

본 논문에서는 영구자석형 동기전동기의 속도제어를 위한 전류제어 서보시스템을 설계하였다. PI(Proportional Integral) 제어기 파라메터의 자동동조(auto-tuning)를 위한 기존의 방법들에서는 출력응답이 지연되고 오버슈트 가 발생된다. 본 논문에서는 이러한 기존의 문제점들을 해결함으로써 빠른 응답과 오버슈트를 제거할 수 있는 새로운 PI자동동조 방법을 속도 제어기에 적용한다. 영구자석형 동기전동기 서보시스템은 수많은 서보 모터들이 사용되고 있는 자동화 공장에서 보수 유지의 용이성과 가제어성으로 인해 많은 장점들을 제공한다. 구현된 서보시스템은 회전자의 절대 위치 검출회로, 자동동조 PI 제어 알고리즘, DSP(Digital Signal Processor)에 의한 속도제어기, 그리고 전력 구동부 등으로 구성된다. 본 논문에서 제안된 서보시스템의 실질적인 유용성은 실험을 통해 입증한다.

• 한국안전학회지
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• 제29권1호
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• pp.80-85
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• 2014

A survey of risk perception in South Korea was conducted in 2007 to evaluate relative riskiness of typical industrial and technological risks. This article summarizes the characteristics of risk perception using psychometric analyses. The survey with a sample size of 1,194 reviews the perceived level of 25 risk items in the areas of transportation, chemicals, environment, industry, nuclear power generation, and newly-introduced risks. Six categories of risk identified by a factor analysis show that the level of perceived risk does not correspond to the statistical level. Psychometric analyses including voluntariness, severity, effect manifestation, exposure pattern, controllability, familiarity, benefit and necessity demonstrate that voluntary, familiar and immediate risks are perceived as less risky than involuntary, unfamiliar and delayed ones. Risk communication is critical in reducing the discrepance between objective and subjective level of risk. However, the amount of risk information does not always justify a successful risk communication. A safety policy, risk communication strategy in particular, should take into account diverse dimensions of risk reviewed by psychometric analyses in the study. Social policy toward safety can be improved by integrating policy, human, and social factors as well as technological advances.

• 진공이야기
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• 제3권3호
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• pp.15-18
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• 2016

In future wearable electronic systems, 3-dimensional (3D) devices have attracted much attention due to their high density integration and low-power functionality. Among 3D devices, gate-all-around (GAA) nanowire transistor provides superior gate controllability, resulting in suppressing short channel effect and other drawbacks in 2D metal-oxide-semiconductor field-effect transistor (MOSFET). Silicon nanowires (SiNWs) are the most promising building block for GAA structure device due to their compatibility with the current Si-based ultra large scale integration (ULSI) technology. Moreover, the theoretical limit for subthreshold swing (SS) of MOSFET is 60 mV/dec at room temperature, which causes the increase in Ioff current. To overcome theoretical limit for the SS, it is crucial that research into new types of device concepts should be performed. In our present studies, we have experimentally demonstrated feedback FET (FBFET) and tunnel FET (TFET) with sub-60 mV/dec based on SiNWs. Also, we fabricated SiNW based complementary TFET (c-TFET) and SiNW complementary metal-oxide-semiconductor (CMOS) inverter. Our research demonstrates the promising potential of SiNW electronic devices for future wearable electronic systems.