• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1082-1087
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• 2003

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive levitation object called a platen This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using lagrangian method and used coenergy to express an electromagnetic force. We proposed control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation result is provided to verify the effectiveness of the proposed control scheme.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.6
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• pp.906-915
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• 2004

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.8 s.197
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• pp.89-96
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• 2007

In this paper, a new air bearing stage with magnetic preload and a linear motor has been developed for the small precision machine systems. The new air bearing stage is unique in the sense that permanent magnets attached bottom of the iron core of table are used not only for preloading air bearings in vertical direction but also for generating thrust force by current of the coil at base. The characteristics of air bearings using porous pads were analyzed with numerical method, and the magnetic circuit model was derived for linear motor for calculating required preload force and thrust force. A prototype of single axis miniature stage with size of $120(W){\times}120(L){\times}50(H)\;mm^3$ was designed and fabricated and examined its performances, vertical stiffness, load capacity, thrust force and positioning resolution.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.138-140
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• 2006

A new diagnosis model was constructed by combining atomic force microscopy (AFM), wavelet, and neural network. Plasma faults were characterized by filtering AFM-measured etch surface roughness with wavelet. The presented technique was evaluated with the data collected during the etching of silicon oxynitride thin film. A total of 17 etch experiments were conducted. Applying wavelet to AFM, surface roughness was detailed into vertical, horizon%at, and diagonal components. For each component, neural network recognition models were constructed and evaluated. Comparisons revealed that the vertical component-based model yielded about 30% improvement in the recognition accuracy over others. The presented technique was evaluated with the data collected during the etching of silicon oxynitride thin film. A total of 17 etch experiments were conducted

• Transactions of Materials Processing
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• v.20 no.8
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• pp.548-554
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• 2011

A Finite Element (FE)-based model is proposed for predicting the roll force in an edger. The model is developed on the basis of the hypothetical mode of rolling and the least-squares regression analysis from the result of the FE approach. This model reflects the effect of process variables affected by the roll force, and has three dimensionless parameters, I.e., shape factor, reduction ratio and width-to-thickness ratio. The model prediction compared satisfactorily with experiment observations.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.102-111
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• 2005

In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.

• Smart Structures and Systems
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• v.26 no.2
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• pp.195-211
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• 2020

Among anti-seismic technologies, base isolation is a very effective means of mitigating damage to structural and nonstructural components, such as equipment. However, most seismic isolation systems are designed for mitigating only horizontal seismic responses because the realization of a vertical isolation system (VIS) is difficult. The difficulty is primarily due to conflicting isolation stiffness demands in the static and dynamic states for a VIS, which requires sufficient rigidity to support the self-weight of the isolated object in the static state, but sufficient flexibility to lengthen the isolation period and uncouple the ground motion in the dynamic state. To overcome this problem, a semi-active VIS, called the piezoelectric inertia-type vertical isolation system (PIVIS), is proposed in this study. PIVIS is composed of a piezoelectric friction damper (PFD) and a leverage mechanism with a counterweight. The counterweight provides an uplifting force in the static state and an extra inertial force in the dynamic state; therefore, the effective vertical stiffness of PIVIS is higher in the static state and lower in the dynamic state. The PFD provides a controllable friction force for PIVIS to further prevent its excessive displacement. For experimental verification, a shaking table test was conducted on a prototype PIVIS controlled by a simple controller. The experimental results well agree with the theoretical results. To further investigate the isolation performance of PIVIS, the seismic responses of PIVIS were simulated numerically by considering 14 vertical ground motions with different characteristics. The responses of PIVIS were compared with those of a traditional VIS and a passive system (PIVIS without control). The numerical results demonstrate that compared with the traditional and passive systems, PIVIS can effectively suppress isolation displacement in all kinds of earthquake with various peak ground accelerations and frequency content while maintaining its isolation efficiency. The proposed system is particularly effective for near-fault earthquakes with long-period components, for which it prevents resonant-like motion.

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.219-223
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• 2004

Korea Railroad Research Institute(KRRI) propelled sensing and measurement techniques development for measure of Lateral Force and Vertical Force With Italy to international cooperation research project for laser technology for measurement of wheel/rail interaction force. In this paper, we compared the laser technology for measurement of wheel/rail interaction force with the existing method. And then, we suggests interaction force measurement system procedure of hereafter.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.481-484
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• 2008

The important factor to evaluate the running safety of a railway vehicle would be the interaction force between wheel and rail(derailment coefficient), for which is one of important factors to check the running safety of a railway vehicle that may cause a tragic accident. Element that analyze derailment coefficient is consisted of wheel load and lateral force. In this paper, studied about method that calculate vertical force(wheel load) by bending load of axle in rolling stocks.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.129-135
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• 2008

This research was examined the effect of Backward Walk on ground reaction force and we achieved it by using ground reaction force machine during the Backward Walk activity with Latin and Rumba dance. We find that it was significant difference of vertical(Fz) ground reaction force of right foot in touchdown and toe-off and vertical(Fz), horizontal(Fx), front-rear(Fy) ground reaction force of left foot. There was not significant differences in vertical ground reaction force between superior athlete and unskilled athlete, but there was a significant difference in left foot. Through this, we know that the sports capability of left foot which has been developed through the training is better in superior athlete group. Therefore understanding of difference in ground reaction force and repeated training can help the unskilled athlete and beginner to accomplish the accurate movement.