• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.103-108
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• 2012

In this paper, the optimal design of a spring-type gravity compensation system for an articulated robot is presented. Sequential quadratic programming (SQP) is adopted to resolve various nonlinear constraints in spring design such as stress, buckling, and fatigue constraints, and to reduce computation time. In addition, continuous relaxation method is used to explain the integer-valued design variables. The simulation results show that the gravity compensation system designed by proposed method improves the performance effectively without additional weight gain in the main workspace.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.45-53
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• 2009

Today, reduction of $CO_2$ exhaustion gas for global-warming prevention becomes important issues in all industrial fields. Hydraulic systems have been widely used in industrial applications due to high power density and so on. However hydraulic pump is always being operated by engine or electric motor in the conventional hydraulic system. Therefore most of the conventional hydraulic system is not efficient system. Recently, an electro-hydraulic hybrid system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. In the electro-hydraulic hybrid system, hydraulic pump is operated by electric motor only when hydraulic power is needed. Therefore the electro-hydraulic system can reduce the energy consumption drastically when compared to the conventional hydraulic systems. This paper presents a new kind of hydraulic load simulator which is composed of electro-hydraulic hybrid system. Disturbances in the real working condition make the control performance decrease or go bad. QFT controller is designed to eliminate or reduce the disturbance and improve the control performance of the electro-hydraulic load simulator. Experimental results show that the proposed controller is verified to apply for electro-hydraulic hybrid system with varied external disturbances.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.4
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• pp.65-71
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• 2014

As an important component of a fuel cell, the bipolar plate comprises a large proportion in the fuel cell's volume, weight and price. The bipolar plate is the most widely used; however, graphite bipolar plate is large in volume, brittle and therefore easily broken during assembling. In addition, due to its poor machinability, production costs a lot, unless mass production. Compared with the graphite bipolar plate, the metal bipolar plate has good machinability, high electric conductivity and strong mechanical strength; however, it corrodes easily and has a high contact resistance, so in order to prevent corrosion and reduce the contact resistance, the basic metal needs to be processed by use of electro polishing and coating. The water which is produced by electrochemical reactions in the fuel cell must be discharged smoothly. In this study, in order to prevent corrosion the processes of electro polishing and CrN coating were used. According to the presence or absence of these processes, the contact angles can be measured and different metal bipolar plates can be made, these plates can be used for comparing and analyzing the performance of the fuel cell.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1249-1253
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• 2004

A robust input modification approach to the control of flexible joint robot is presented. In our previous study, we developed an observer based state feedback control for the suppression of residual vibration of a robot. The control was very effective in suppressing the inherent vibration of a flexible joint robot. However it did not meet high performance requirements under high speed motion and model uncertainties. As a solution of the problem, we present an input modification method with robustness against parametric uncertainties. The main idea of the proposed input modification method is to generate a modified reference position command for fast and accurate motion of the robot. Using this proposed method we can reduce the servo delay and settling time by about 60% and substantially improve the path accuracy.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.1
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• pp.47-53
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• 2011

From recent research, it has revealed that Electroacitve polymer(EAP) has a physical limitation. Carbon nanotube(CNT) is known as the promising material which has excellent electro-mechanical characteristics and is mostly defect-free. It is expected that a successful synthesis of CNT and Nafion known as a primary material for IPMC would make a great improvement on its electro-mechanic feature. In this paper, we suggest the method of synthesis of CNT with Nafion which improves electro-mechanical characteristic. Using mechanical dispersion with Nafion and Isopropyl Alcohol(IPA), we disperse Single-walled carbon nanotubes(SWCNT). For a uniformly layer of CNT, we used a spray gun on a hot plate by a simplified method. In the result, we fabricated a disperse SWCNT/Nafion composite uniformly.

• Journal of Electrical Engineering and Technology
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• v.2 no.3
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• pp.346-352
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• 2007

In this paper, we present an analysis of dynamic characteristics of an electromagnetic actuator for circuit breakers. It is indispensable to simultaneously analyze magnetic, electric, and mechanical phenomena to obtain the dynamic characteristics of the electromagnetic actuator because these phenomena are closely related to each other in an electromagnetic actuator system. The magnetic equations are computed by using the finite element method (FEM). The electric equations and the mechanical equations, which include the time derivative terms, are calculated by using the time difference method (TDM). The calculated results, which have been obtained by means of the FEM and the TDM, are presented with experimental data.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.9
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• pp.793-797
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• 2005

This study introduces Electro-chemical Mechanical Deposition(ECMD) lot making Cu interconnect. ECMD is a novel technique that has ability to deposit planar conductive films on non-planar substrate surfaces. Technique involves electrochemical deposition(ECD) and mechanical sweeping of the substrate surface Preferential deposition into the cavities on the substrate surface nay be achieved through two difference mechanisms. The first mechanism is more chemical and essential. It involves enhancing deposition into the cavities where mechanical sweeping does not reach. The second mechanism involves reducing deposition onto surface that is swept. In this study, we demonstrate ECMD process and characteristic. We proceeded this experiment by changing of distribution of current density on divided water area zones and use different pad types.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.659-662
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• 2003

This paper analyzes the electro-mechanical characteristics of the spindle motor in a computer hard disk drive due to the trapezoidal and sinusoidal driving methods. The driving circuit equation is modified by considering the switching action of PWM inverter, and is coupled with the Maxwell equation for the analysis of the magnetic field. Mechanical motion of a rotor is calculated by solving Newton-Euler equation. Electro-mechanical excitation and dynamic response are characterized by analyzing the free response of a rotating rotor and Fourier analysis of the excitation force.

• Structural Engineering and Mechanics
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• v.75 no.6
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• pp.659-674
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• 2020

The present paper employs nonlocal strain gradient theory (NSGT) to study buckling behavior of functionally graded magneto-electro-thermo-elastic (FG-METE) nanoshells under various physical fields. NSGT modeling of the nanoshell contains two size parameters, one related to nonlocal stress field and another related to strain gradients. It is considered that mechanical, thermal, electrical and magnetic loads are exerted to the nanoshell. Temperature field has uniform and linear variation in nanoshell thickness. According to a power-law function, piezo-magnetic, thermal and mechanical properties of the nanoshell are considered to be graded in thickness direction. Five coupled governing equations have been obtained by using Hamilton's principle and then solved implementing Galerkin's method. Influences of temperature field, electric voltage, magnetic potential, nonlocality, strain gradient parameter and FG material exponent on buckling loads of the FG-METE nanoshell have been studied in detail.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.870-871
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• 2007

As the system with current is heat generation system, it has to be analyzed to consider effect in virtue of temperature. Hence this paper examined the solution of the coupled thermalelectro-mechanical problem. Mechanical modeling, force computation, electromagnetic field solution, and heat transfer modeling are addressed. It accomplished electro-mechanical coupled system analysis considering a temperature, the analysis method is by using extracted circuit parameters with resistivity by heat transfer analysis and inductance by electromagnetic analysis.