• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.149-154
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• 1990

In this paper, simulation results of a robust digital tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. Some of the difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull, the spring effect of a link between the drive motor and the manipulator arm. Another difficulty is that, because of the non-differentiable Coulomb friction, the digital control system cannot be represented as a discrete system. It is thus necessary to design the controller based on a discrete-continuous hybrid model. The controller is based on feeding back the state variables and augmenting the system by addition discrete integrators. The feedback gain parameters are obtained by applying the quadratic optimal control theory and then choosing the new weighting matrices to eliminate the limit cycle by using the describing function method for hybrid system.

• Journal of Industrial Technology
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• v.19
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• pp.351-359
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• 1999

If the tactile sense is introduced to engineering and industries, it may provide more realistic virtual tactile sensing to human and it is possible to develop product that satisfy various consumer's taste. This paper presents a compliance emulator system as a new concept of tactile reproduction simulator which uses magnetic levitation in order to minimize friction and emulates compliance only along the vertical direction. Compliance is one of the important mechanical properties of the object related to tactile sensing of the human. The implemented system equipped with an analog LVDT sensor for a position sensor and employs a PD control with gravity compensation to emulate the specified compliance. To compensate the limited range of the system, the method of attaching the spring with various magnitude of stiffness to the system is adopted and its preliminary test is performed to confirm the validity of the method.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.731-736
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• 2000

An optimal design method is adopted for a spacer grid in nuclear power plant. It is made of punched sheet metal process, functioning as springs and dimples supporting fuel rods. For stress analysis of the assembled fuel rod support, a typical cell out of the repeated pattern in the assembly is modeled using 4-node shell elements. A commercial code, ABAQUS, is used for detailed analysis of contacting phenomena with friction. For the optimization, design varibles are taken from geometric parameters representing the shape of the bent leaf spring part and mating contact region with fuel rod. Objective function is considered in relation to mechanical functions and durability. Maximum yon Mises stress is considered in relation to constrained contact stress.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.692-696
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• 2011

A clutch is a very important component when engine starts and gear shifting is needed. The clutch the most commonly used is the dry clutch. This type of clutch has pads, and they are worn after disengagement of clutch little by little. The characteristics of the clutch changes as these pads wear, so wear needs to be measured, and the clutch should be controlled for proper operation. In this study, the clutch contact point estimation algorithm has been developed. From this algorithm, clutch force map changes depending on wear, and the clutch operates properly. We also see the shifting transient of a vehicle for drivability with throttle valve position control and synchronizer movement.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.2
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• pp.112-117
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• 2012

This paper presents a new stopper mechanism for precision stage by using the Piezoelectric element actuator. The new stage including a new stopper mechanism has the precision positioning mechanism that was been developed for generation displacements with nanometer accuracy and a millimeter dynamic range simulataneouly. The stage is composed not of the mechanical two stopper but of only one Piezoelectric element actuator. The characteristics for the new stage and the stopper have been evaluated experimentally. As the results, we can know that the linearity error characteristics of stage is 30nm in the $20{\mu}m$ measurement range. In addition, the experimental results are confirmed the possibility of the movement in millimeter range.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.409-410
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• 2006

In this study, the tempering effect on the wear characteristics of induction-hardened SPS5 steel was investigated. For this purpose, three tempering conditions were applied to control the hardness of heat-treated SPS5 steel. Ball-on-disk wear tests have been performed using zircornia balls on the tempered specimens to determine the variation of wear characteristics. The results showed that friction coefficient decreased with increasing hardness for induction hardening conditions. This seems to occur because real contact area between specimen and mating ball was affected by the specimen hardness.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.2
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• pp.184-193
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• 2006

Rotation of intake and exhaust valves are very closely related to the long term durability of automotive engines. If the valves do not rotate even at a rated engine speed, it causes the uneven wear of the valve seat and valve head contact area, which eventually shortens the engine life. A principle of valve rotation mechanism was presumed based on some findings from experiments, and computer programs were developed to simulate the valve rotation phenomena. In this study we investigated the valve rotation mechanism by using the computer simulation models.

• Journal of KSNVE
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• v.10 no.5
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• pp.865-872
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• 2000

This paper presents the modeling, theoretical formulation, and stability analysis for a combined system of a spinning disc and a head that contacts the disc. In the analytic model, head interference is considered by a rotating mass-spring-damper system together with a frictional follower force on the damped annular discs. The multiple scale method is utilized to perform the stability system that shows the existence of instability associated with parametric resonances. Using the formulated system , instability regions of optical recording disc are investigated with variation of mass, stiffness and friction force of a head, respectively. The simulation results show that the stiffness of a head is the most sensitive parameter on the instability of the disc.

• The KSFM Journal of Fluid Machinery
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• v.7 no.4 s.25
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• pp.24-31
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• 2004

The aim of this study is to provide fundamental information for the development of Semi-Active Damper Using Magnetic fluid. To achieve the aim, the damping effect of magnetic fluid is investigated by experiments that the diameter of inner circular bar and the input amplitude were varied in the magnetic field generated by the permanent magnet and the electromagnet coil. From the study, the following conclusive remarks can be made. As the diameter of inner circular bar and input amplitude increase, the damping effect is improved. This is explained by the fact that as the contact area between inner circular bar and magnetic fluid increases, the increase of friction lowers kinematic energy. If the magnetic field is generated, the damping effect is improved. This is explained the assumption that as the intensity of magnetic fluid particle increases, there is virtual mass phenomenon.