• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.223-226
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• 2001

A SMA actuator fabricated in this paper generates the large force and it's structure is very simple. The SMA actuator was fabricated by small size with diameter of 4mm and length of 38mm and also it's actuations toward all the directions can be acquired because of three SMA springs which was fabricated with diameter of 1.2mm and 30 turns. We showed into applicability to smart catheter by analyzing accurately the dynamic characteristics such as heading angle, bending angle, force, displacement. For verifying control capacity of the fuzzy controller, we compared Fuzzy controller with PID controller by simulation.

• 한국정밀공학회지
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• 제22권6호
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• 한국안전학회지
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• 제32권6호
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• pp.89-97
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• 2017

The tuned mass damper (TMD) system was first proposed as an efficient vibration control method for high-rise buildings, and multiple TMD (MTMD) system was then proposed for the purpose of improving the robust performance. Thereafter, the active TMD (ATMD) is proposed to improve the vibration control performance over the TMD and MTMD systems. However, this system may experience an system-instability problem in case of the actuator malfunction. In order to overcome such limitations of actuator malfunction causing the instability of the structural system, in this study, we investigate the feasibility of the multiple ATMD (MATMD) system that facilitates both advantages of the MTMD and ATMD. Numerical example demonstrates that, when the proposed system is designed to have the same capacity as the ATMD, it shows a similar control performance to the ATMD, but also has very good adaptive control performance against the emergency situations such as actuator failures.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.373-377
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• 2002

In this study, we suggested a slim-type actuator that can be controlled in radial direction for compensating coma aberration in high-capacity optical storage devices. To deal successfully with narrow space in slim-type optical pick-up for notebook pc device, additional yokes for tilting motion are integrated into main yoke of the actuator. And the location of tilting coils is determined for mass-b3lancing effect to achieve optimal configuration for high driving sensitivity. We also suggested new concept of lens holder to guarantee excellent stability of control system by enhancing the gain margin at secondary resonant frequency. The concept was realized by forming damping sections in the lens holder, which prevent vibrational energy from transferring to lens. An exclusive measurement system was newly developed for fast and precise measurement of dynamic characteristics of actuators and utilized for the practical use. We hope to make good use of this system also in time to come.

• 정보저장시스템학회:학술대회논문집
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• 정보저장시스템학회 2005년도 추계학술대회 논문집
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• pp.248-253
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• 2005

The recording density of a hard disk drive is increasing so rapidly that the storage capacity of a commercial HDD in PC reaches several hundred giga bytes recently. Many technologies related to the HDD, such as servo, media, actuator dynamics, thermo and fluid dynamics, etc. must be developed together to realize high recording density. Especially, researches in the airflow inside the HDD cavity become important as the rotational speed of a disk increases. Typical problem due to the airflow is the vibration of an actuator as the airflow collides with an I-block, suspensions and sliders, that is, FIV(Flow Induced Vibration). This problem is one of the significant sources of increasing TMR so that it must be resolved. In this research, a disk damper shape has been modified to minimize the effects of airflow on the actuator. Modified disk dampers which change flow field inside HDD cavity show good effects not only on the disk (tufter but also on the vibration of an actuator. Vibrations of E- block and slider have been measured with LDV and the airflow field inside the HDD cavity has been analyzed using a commercial package to verify these effects.

• Tribology and Lubricants
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• 제39권2호
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• pp.81-85
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• 2023

This study presents an experimental investigation of the effects of surface roughness on gas foil thrust bearing (GFTB) performance. A high-speed motor with the maximum speed of 80 krpm rotates a thrust runner and a pneumatic cylinder applies static loads to the test GFTB. When the motor speed increases and reaches a specific speed at which a hydrodynamic film pressure generated within the gap between the thrust runner and test GFTB is enough to support the applied static load, the thrust runner lifts off from the test GFTB and the friction mechanism changes from the boundary lubrication to the hydrodynamic lubrication. The experiment shows a series of lift-off test and load-carrying capacity test for two thrust runners with different surface roughnesses. For a constant static load of 15 N, thrust runner A with its lower surface roughness exhibits a higher start-up torque but lower lift-off torque than thrust runner B with a higher surface roughness. The load capacity test at a rotor speed of 60 krpm reveals that runner A results in a higher maximum load capacity than runner B. Runner A also shows a lower drag torque, friction coefficient, and bearing temperature than runner B at constant static loads. The results imply that maintaining a consistent surface roughness for a thrust runner may improve its static GFTB performance.

• Journal of Advanced Marine Engineering and Technology
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• 제32권2호
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• pp.343-350
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• 2008

In this paper, a six degree-of-freedom robot arm which is very light but capable of delivering heavy loads was studied. The proposed robot arm has much higher load capacity than conventional robot arms actuated by motors with speed reducers such as the harmonic drive since a new type of robot actuator based on a closed chain mechanism driven by the ball screw was adopted. Analysis on the design scheme and on the mechanism of the joint actuator of the robot arm were made. Since the robot arm was designed very light, it has deflection in the links. To analyze this, a finite element analysis on the structure of the designed robot links was made using ANSYS software. Verifying experiments on the performance of high load capacity of the robot arm was performed by loading heavy weights on the robot arm. Through experiments. the correctness of the numerical analysis was also verified.

• 한국정밀공학회지
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• 제30권1호
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• pp.39-46
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• 2013

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were $103^{\circ}$, $10^{\circ}$, and 0.15 N, respectively.

• 대한기계학회논문집A
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• 제24권10호
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• pp.2502-2512
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• 2000

Truss structures are widely used in many space structures, such as large antenna systems, space stations, precision segmented telescopes because they are light in weight and amenable in assembly or deployment. But, due to the low damping capacity, they remain excited for a long time once disturbed. These structural vibrations can reduce life of the structures and cause unstable dynamic characteristics. In this research, vibration suppression experiment has carried out with a three-dimensional 15-member truss structure using two piezoelectric actuators. Piezoelectric actuators which consist of stacks of thin piezoelectric material disks are directly inserted to the truss structure collocated with the strain sensors. Each actuator is controlled digitally in decentralized manner, based on local integral and proportional feedback. The optimal positions of the actuators are determined by the modal damping ratio and the control force. Numerical simulation has carried out to determine optimal position of each actuator.

• 한국해양공학회지
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• 제27권2호
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• pp.100-106
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• 2013

This paper deals with the design method for a small waterproof 4-axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.