• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.625-629
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• 1998

So far a single-axis controlled repulsive type magnetic bearing system have been designed and fabricated in our laboratory employing the repulsive forces operating between the stator and rotor permanent magnet for levitation. The radial axis is uncontrolled passive one. The higher speed of operation is limited due to the vibration along the uncontrolled axis and the increase of control current due to eddy current interference. This paper will discuss a detailed modeling of the repulsive type magnetic bearing system for five axis control including the eddy current effect and the method of reduction of eddy current effect. Simulation results using Matlab will be presented.

• Bulletin of the Korean Chemical Society
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• v.10 no.3
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• pp.238-242
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• 1989

The relations between the repulsive interactions and the electron density overlaps are investigated for various closed shell-closed shell pairs, including the systems containing alkali and halide ions. It is found that the repulsive interaction($V_{rep}$) depends on the overlap of the electron density($S_{\rho}$) according to a simple exponential relation, $V_{rep}$ = $As_{\rho}\;^{\alpha}$. Furthermore, for most of the closed shell systems the $\alpha$ values are near unity and the A values do not vary much. The same tests are also performed for the open shell-closed shell, and the open shell-open shell pairs. Although the results for these systems also show exponential dependences of the repulsive interactions on the density overlaps, the details of the dependence differ greatly from those for the closed shell systems and also vary widely from one individual system to another.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• Progress in Superconductivity and Cryogenics
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• v.13 no.1
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• pp.31-35
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• 2011

A Hybrid Fault Current Limiter(FCL) which has more advantages in fast response and thermal characteristics than a simple resistive FCL had been proposed by our group. The Hybrid FCL consists of a resistive FCL for the magnitude of the first peak of fault current, and a fast switch for detecting fault current and generating the repulsive force within a cycle in fault situation. In ideal case, the impedance of the fast switch wound with two other kinds of HTS tape is negligibly zero in normal operation. But, during the fault situation, each HTS tape has different quench characteristics because of asymmetric current distribution. And this phenomenon causes effective flux and this flux opens the switch through the repulsive force applied to a metal plate of the fast switch. The magnitude of the repulsive force affects the switching characteristics of the fast switch. It should be large enough to raise the metal plate up. Otherwise the arc re-out break which are caused by not enough repulsive force to raise the metal plate up can cause unintended operation of the fast switch. In this paper, the numerical calculation of the repulsive force applied to the metal plate of the fast switch in various combinations of HTS tapes was performed by using the short-circuit test and finite element method.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.9 no.2
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• pp.224-230
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• 1999

Agglomeration of colloidal alumina particles in a suspension is simulated. Particles in a suspension have potential energies between them and move to decrease the summation of all the potential energies between particles. The effects of various types of potential curves on particle agglomeration were checked. Strong short range attractive energy without repulsive energy barrier makes small strong clusters with disordered network structure but weak short-range force with big repulsive energy barrier makes big agglomerates with a close packing structure. As particles are agglomerated the potential energy with strong repulsive energy barrier between agglomerates gradually decreases the importance of the repulsive energy barrier and induces a different type of agglomeration behavior.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.67-76
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• 1997

In this paper we developed a tactile feedback device using repulsive force of magnets. The force of the tactile feedback device was derived from the Maxwell's stress method by using the concept of magnetic charge. Magnetic repulsive force is linear function with respect to current and nonlinear to displacement. Experimental data shows these characteristics. To compensate the fact that the presented tactile feedback device can not be controlled by close loop control, we developed a simulation model which predicts output displacement and force by using Runge-Kutta method. And, this paper evaluated the presented tactile feedback device and compared it with commercial tactile feedback devices.

• Bulletin of the Korean Chemical Society
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• v.30 no.3
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• pp.567-572
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• 2009

In this study, the effects of counter ion valency of the electrolyte on the colloidal repulsion between two parallel cylindrical particles were investigated. Electrostatic interactions of the cylindrical particles were calculated with the variation of counter ion valency. To calculate the electrical repulsive energy working between these two cylindrical particles, Derjaguin approximation was applied. The electrostatic potential profiles were obtained numerically by solving nonlinear Poission-Boltzmann (P-B) equation and calculating middle point potential and repulsive energy working between interacting surfaces. The electrical potential and repulsive energy were influenced by counter ion valency, Debye length, and surface potential. The potential profile and middle point potential decayed with the counter ion valency due to the promoted shielding of electrical charge. On the while, the repulsive energy increased with the counter ion valency at a short separation distance. These behaviors of electrostatic interaction agreed with previous results on planar or spherical surfaces.

• Progress in Superconductivity and Cryogenics
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• v.13 no.1
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• pp.41-45
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• 2011

Hybrid fault current limiters (FCL) have been researched at Yonsei University. The hybrid FCL has advantages such as having a rapid response to a sudden fault situation and a fast recovery time from a quench. It consists of an asymmetric HTS coil, a switching module, and a bypass reactor. The asymmetric HTS coil is wound with two different types of HTS wires in an opposite direction so that it has nearly zero inductance at the superconducting state. When the quench occurs at the fault state, a strong magnetic field is generated from the asymmetric coil because of different quench characteristics of two HTS wires, and then a repulsive force is induced in the switching module. The force opens the switch and the fault current is pushed into the bypass reactor. In this research, we analyzed the cause of the repulsive force and confirmed, experimentally and computationally, that the magnitude of a repulsive force is varied by changing the gap distance between the asymmetric coil and the switching module. By using the FEM simulation, we calculated the repulsive force with respect to the gap distance and verified that the effect of the gap distance. Then, short circuit test was carried out to confirm the correct operation of the fast switch.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.416-422
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• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• Bulletin of the Korean Chemical Society
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• v.32 no.4
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• pp.1336-1340
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• 2011

Molecular dynamics simulations have been performed to investigate the transport properties of self-diffusion coefficients in the penetrable-sphere model system. The resulting simulation data for the product of the packing fraction and the self-diffusion coefficient exhibit a transition from an increasing function of density in lower repulsive systems, where the soft-type collisions are dominant, to a decreasing function in higher repulsive systems, where most particle collisions are the hard-type reflections due to the low-penetrability effects. A modified Enskog-like equation implemented by the effective packing fraction with the mean-field energy correction is also proposed, and this heuristic approximation yields a reasonably good result even in systems of high densities and high repulsive energy barriers.