• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.553-562
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• 2015

This paper presents a strategy and an algorithm for levitation control of an over-actuated passive maglev tray system. The passive maglev tray system has more actuators than its degrees of freedom. The actuators of the system are switching when the tray travels longitudinally. Furthermore, the levitation forces of the actuators are non-homogeneous because the actuation devices are not in the moving platform. These characteristics make a limit in using conventional control approaches for levitation. For smooth actuator switching, the actuator force generation should be dependent on longitudinal positions of the tray. To enable constant pose tracking, this research introduces a control strategy and a control algorithm based on integral controllers on virtual variables. The states of the tray are estimated using a Kalman filter and fed to the proposed controller. The performances of the proposed control strategy and the algorithm are validated through tests.

• Journal of Sensor Science and Technology
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• v.19 no.4
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• pp.320-327
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• 2010

In this paper, electrostatically actuated direct contact type RF MEMS switches have been designed and demonstrated. As driving structures of the switch, cantilever, bridge, and torsion spring beam structures are used and the actuation voltage characteristics of the switches have been compared and discussed. The designed RF switches are fabricated with the surface micromachining technology using the electroplated gold and nickel structures. The characteristics of the fabricated switches are measured and analyzed. The switch, which is fabricated using the 510 ${\mu}m$-length bridge structure with the thickness of 1.5 ${\mu}m$, is actuated with 15 V driving voltage. The insertion losses are less than 0.2 dB over the measured frequency ranges from 0 to 20 GHz and the isolations are more than 30 dB.

• Journal of Korean Society of Transportation
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• v.26 no.6
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• pp.81-89
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• 2008

This paper aims to develop an integrated urban freeway exit-intersection actuated traffic signal control strategy based on which a real-time detection of queue at each of an exit-ramp and an arterial. To evaluate effects of the proposed actuated traffic signal control according to various traffic situations and geometric conditions, this paper analyzed the effects of the proposed traffic signal control strategy according to traffic situations such as the occasion of the arterial being saturated, the occasion of the exit-ramp being saturated, and the occasion of both the arterial and the exit-ramp being saturated. To reflect geometric conditions that influence the effects of the control strategy, this paper evaluated effects before and after applying the actuated traffic signal control strategy according to six cases for both above and under the downstream link length of 200m as proposed by COSMOS. The study results shown that when the link length above 200m, offered a greater effect of applying the actuated traffic control strategy than below 200m. Thus, the actuated traffic signal control through a real-time detection of queue is expected to offer a greater effect at longer downward link.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2001.04a
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• pp.468-475
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• 2001

It can be seen through the previous earthquake damages that indirect damages such as those by fire are much greater rather than direct (firsthand) damage by earthquakes. Recently, gas is used very popularly all over the country but no measures have been taken against hazards (or dangers), for instance, such as fires caused by leaking gas pipes when earthquakes occur. Earthquake-Actuated Automatic Gas Shutoff Devices (Shutoff Device) are used to prevent such disaster in other countries. ChungJung Engineering. Co. is making a sample of a Shutoff Device for the first time in Korea. In this study, a derivation of mathermatical model and the important effects of various variables on the shutoff device are mentioned.

• Advances in materials Research
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• v.8 no.4
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• pp.337-359
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• 2019

Shape Memory Polymer Composites (SMPC) have gained popularity over the last few decades due to its flexible shape memory behaviour over wide range of strains and temperatures. In this paper, non-linear bending analysis has been carried out for SMPC beam under the application of uniformly distributed transverse load (UDL). Simplified C⁰ continuity Finite Element Method (FEM) based on Higher Order Shear Deformation Theory (HSDT) has been adopted for flexural analysis of SMPC. The numerical solutions are obtained by iterative Newton Raphson method. Material properties of SMPC with Shape Memory Polymer (SMP) as matrix and carbon fibre as reinforcements, have been calculated by theory of volume averaging. Effect of temperature on SMPC has been evaluated for numerous parameters for instance number of layers, aspect ratio, boundary conditions, volume fraction of carbon fiber and laminate stacking orientation. Moreover, deflection profile over unit length and behavior of stresses across thickness are also presented to elaborate the effect of glass transition temperature (T_g). Present study provides detailed explanation on effect of different parameters on the bending of SMPC beam for large strain over a broad span of temperature from 273-373K, which encompasses glass transition region of SMPC.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• Advances in robotics research
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• v.1 no.2
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• pp.141-154
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• 2014

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.85.3-85
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• 2002

In this study, we tried to investigate the impedance characteristic of human arm in a cooperative task. Human arm was moved in a desired trajectory. The motion was actuated by a 1 degree-of-freedom robot system. As the muscle is mechanically analogous to a spring-damper system, a second-order equation was considered as the model for arm dynamics. In the model, inertia, stiffness and damping factor were considered. The impedance parameter was estimated from the position and torque data obtained from the experiment and based on the "Estimation of Parametric Model". It was found that the inertia is almost constant over the operational time. The damping factor and stiffness were high...

• Journal of Industrial Technology
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• v.19
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• pp.15-23
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• 1999

Active damping system is generally used for the vibration suppression and precise motion control for the flexible structure. This application can be easily found on the space structure and driving mechanism of optical storage devices. Although a control system using the flexible structure has many advantages over using rigid mechanism in driving energy saving, system weights, and etc., more complex and precise control strategies are required. A position control system using flexible structure and the concept of active damper is designed and manufactured, which is driven by slide DC motor and moving coil motor located at the tip of the flexible beam. Dynamic characteristics of this system are investigated by analytic and experimental ways. By the comparison of those two results, a nominal reference model for this system is proposed.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2004.04a
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• pp.127-130
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• 2004

In this paper, active shape control of composite structure actuated by shape memory alloy (SMA) wires is presented. Hybrid composite structure was established by attaching SMA actuators on the surfaces of graphite/epoxy composite beam using bolt-joint connectors. SMA actuators were activated by phase transformation, which induced by temperature rising over austenite finish temperatures. In this paper, electrical resistive heating was applied to the hybrid composite structures to activate the SMA actuators. For faster and more accurate shape or deflection control of the hybrid composite structure, PID feedback controller was designed from numerical simulations and experimentally applied to the SMA actuators.