• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.642-648
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• 2008

A lot of researches on the redundant manipulators have been focused mainly on the minimization of joint torques. However, it is well-known that the most dynamic control algorithms using local joint torque minimization cause huge torques which can not be implemented by practical motor drivers. A new control algorithm which reduces considerably such a huge-required-torque problem is proposed in this paper. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar robot. Simulation results show that the proposed algorithm works well.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.5
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• pp.287-296
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• 2020

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

• Investigative Magnetic Resonance Imaging
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• v.4 no.1
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• pp.14-19
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• 2000

Purpose : This study was to present the functional brain mapping of both functional magnetic resonance imaging(MRI) and transcranial magnetic stimulation(TMS) in a case of schizencephaly. Materials and methods : A 28-year-old man, who had left hemiplegia and schizencephaly in right cerebral hemisphere, was exacted with both functional MRI and TMS. Motor function of left hand was decreased whereas right hand was within normal limit. For functional MRI, gradient-echo echo planar imaging($TR/TE/{\alpha}$=1.2 sec/90 msec/90) was employed. The paradigm of motor task consisted of repetitive self-paseo hand flexion-extension exercises with 1-2 Hz periods. An image set of 10 slices was repetitively acquired with 15 seconds alternating periods of task performance and rest and total 6 cycles (three ON periods and three OFF periods) were performed. In brain mapping, TMS was performed with the round magnetic stimulator (mean diameter; 90mm). The magnetic stimulation was done with 80% of maximal output. The latency and amplitude of motor evoked potential(MEP)s were obtained from both abductor pollicis brevis(APB) muscles. Results : Functional MRI revealed activation of the left primary motor cortex with flexion-extension exercises of healthy right hand. On the other hand, the left primary motor cortex, left supplementary motor cortex, and left promoter areas were activated with flexion-extension exercises of left hand. In TMS, magnetic evoked potentials were induced in no areas of right cerebral hemisphere, but in 5 areas of left corebral hemisphere from both abductor pollicis brevis. Latency, amplitude, and contour of response of the magnetic evoked potentials in both hands were similar. Conclusion : Functional MRI and TMS in a patient with schizencephaly were successfully used to localize cortical motor function. Ipsilateral motor pathway is thought to be secondary to reinforcement of the corticospinal tract of the ipsilateral motor cortex.

• Investigative Magnetic Resonance Imaging
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• v.16 no.2
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• pp.136-141
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• 2012

Purpose : To investigate the pharmacologic modulation of motor task-dependent physiologic responses by antiplatelet agent, clopidogrel, during hand motor tasks in healthy subjects. Materials and Methods: Ten healthy, right-handed subjects underwent three functional magnetic resonance (fMRI) sessions: one before drug administration, one after high dose drug administration and one after reaching drug steady state. For the motor task fMRI, finger flexion-extension movements were performed. Blood oxygenation level dependent (BOLD) contrast was collected for each subject using a 3.0 T VHi (GE Healthcare, Milwaukee, USA) scanner. $T2^*$-weighted echo planar imaging was used for fMRI acquisition. The fMRI data processing and statistical analyses were carried out using SPM2. Results: Second-level analysis revealed significant increases in the extent of activation in the contralateral motor cortex including primary motor area (M1) after drug administration. The number of activated voxels in motor cortex was 173 without drug administration and the number increased to 1049 for high dose condition and 673 for steady-state condition respectively. However, there was no significant difference in the magnitude of BOLD signal change in terms of peak T value. Conclusion: The current results suggest that cerebral motor activity can be modulated by clopidogrel in healthy subjects and that fMRI is highly senstive to evidence such changes.

• Elastomers and Composites
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• v.55 no.1
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• pp.59-66
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• 2020

Herein, we investigated the thermal conductivity and thermal stability of natural rubber composite systems containing hybrid fillers of boron nitride (BN) and aluminum nitride (AlN). In the hybrid system, the bimodal distribution of polygonal AlN and planar BN particles provided excellent filler-packing efficiency and desired energy path for phonon transfer, resulting in high thermal conductivity of 1.29 W/mK, which could not be achieved by single filler composites. Further, polyethylene glycol (PEG) was compounded with a commonly used naphthenic oil, which substantially increased thermal conductivity to 3.51 W/mK with an excellent thermal stability due to facilitated energy transfer across the filler-filler interface. The resulting PEG-incorporated hybrid composite showed a high thermal degradation temperature (T₂) of 290℃, a low coefficient of thermal expansion of 26.4 ppm/℃, and a low thermal distortion parameter of 7.53 m/K, which is well over the naphthenic oil compound. Finally, using the Fourier's law of conduction, we suggested a modeling methodology to evaluate the cooling performance in thermal management system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.963-971
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• 2000

Gerotor is a planar mechanism consisting of a rotor and lobes which form a closed space, namely a chamber. As active contact points between a rotor and lobes are subjected to very high contact stresses, wear in one or both of the rotor and lobe cannot be avoided. Therefore, in the design of Gerotor used in hydraulic motors a compromise between high torque output and contact stress is of great importance and a thorough analysis of design parameters should be conducted to achieve this compromise. In this study, a contact point is modelled as a linear spring in consideration of equivalent curvature to analyze the contact stress. As the contact stress calculation in this problem is a statically indeterminate type, a numerical iterative scheme has been adopted to obtain the solution. To fully understand the influence of design parameters on the contact stress, the relationship between pressure force, equivalent curvature, contact force and contact stress are analyzed. It is shown that the equivalent curvature of the contact point is a dominant factor that affects the maximum contact stress.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• 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 Institute of Convergence Technology
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• v.3 no.1
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• pp.1-8
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• 2013

High-precision surface actuator, in which in-plane motion is realized by not two-dimensional actuator superposing linear actuators but integrated planar actuator, has been developed to cope with the severe target performance like precise motion with large envelope. It is very difficult to accomplish the performance with the traditional actuating principle. So, various methods have been tried to break through the problem. This paper discusses some meaningful trials performed in the Nano Measurement and Precision Motion Control Lab. of Korea National University of Transportation.