• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1109-1112
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• 2004

This paper presents a high sensitive force sensing module to measure machining forces for a tip-based nanopatterning instrument. The force sensing module utilizing a leaf spring mechanism and a capacitive displacement sensor has been designed to provide a measuring range from 80$\mu$N to 8N. This force sensing module is mounted on a PZT driven in-feed motion stage with 1 nm resolution. The sample can be moved by a X-Y scanning motion stage with 5 nm resolution. In the patterning experiments, the machining forces were controlled and monitored by the force sensing module. Then, the patterned sample was measured by AFM. Experimental results demonstrated that the developed force sensing module can be used as an effective sensing device in the nanopatterning operation.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.6
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• pp.51-58
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• 2010

This paper suggests a control technique of the two axes precision stage. The stage is supported by four flexible spring hinges and driven by two piezoelectric actuators. The dynamic motion of the stage is analysed by the finite element method and identified by the frequency domain modeling technique based on the experimental data. The sliding mode control with integrator is applied to improve the tracking ability of the stage to the complex reference input signal. Experimental results demonstrate that the proposed modeling schemes and control algorithm can be used effectively for the two axes stage.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.1
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• pp.67-73
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• 1999

This paper presents resizing design optimization method by utilizing genetic algorithm(GA), which consists of three basic operators : reproduction, crossover and mutation. The fitness and penalty function for resizing optimization problem are defined, and the flowchart of the developed computer program along with the descriptions of each modules is presented. Also, modelling for flexible-body dynamic analysis is presented. The model is composed of bodies, joints, and force elements such as translational spring-damper-actuator. The design objects si to determine the wall thickness for minimum weight under dynamic displacement constraint.

• Journal of KSNVE
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• v.6 no.5
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.653-656
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• 2001

This paper describes the design and the analysis of permanent magnetic actuator "Magnetic Switch" using classical method and 2D finite element method. The classical method gives an outline of permanent magnet size and analysis is carried out by finite element method. Therefore we make use of the result in specific detail site of magnet. The transient state is simulated in order to calculate the response time of "Magnetic Switch". The simulation is based upon a step-by-step integration of the electric circuit equations and the tore movement. The contactor uses a permanent magnet for maintaining the closed state. The presented solution takes account of non-linear magnetic material property and spring force controlled by core position. The dynamic response of "Magnetic Switch" is predicted by the simulation agrees closely with the required condition.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.239-244
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• 2009

This paper suggests a precision positioning control technique of a precision positioning stage with coupling effects. The precision positioning stage is supported by four flexible spring hinges and driven by two piezoelectric actuators. The dynamic characteristics of the precision positioning stage is modeled and identified by the FEM analysis. The dynamic characteristics of the stage are also identified by the frequency domain modeling technique based on the experimental data. Reliability of two modeling methods is examined by comparing the numerically and experimentally produced responses of the stage. This paper proposes a sliding mode control technique with integrator to improve the tracking ability of the precision positioning stage to the complex input signal using. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Journal of Power System Engineering
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• v.21 no.2
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• pp.27-34
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• 2017

A heave motion of the offshore crane system with load is affected by unpredictable external factors. Therefore the offshore crane must satisfy rigorous requirements in terms of safety and efficiency. This paper intends to reduce the heave displacement of load position which is produced by rope extension and sea wave disturbance in vertical motion. In this system, the load position is compensated by the winch actuator control. The rope is modeled as a mass-damper-spring system, and a controller is designed by the input-output linearization method. The model system and the proposed control method are evaluated on the simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.57 no.3
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• pp.250-254
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• 2008

Robot actuators are significantly important with respect to whole control system performance. This paper presents an adaptive control approach for flexible robot actuators with time-varying spring and damping nature. We first represent a perturbed system model with assumption that its information are partially known. Nominal model reference control method is employed for deriving our adaptive control law. We carry out numerical simulation to evaluate the proposed control system and compare simulation results to a well-known control method for demonstrating its effectiveness.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.131-138
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• 2001

In this paper, performance of a dry CVT vehicle with torque cam is investigated. Based on belt transmission mechanism and torque cam actuator characteristics, an algorithm which is able to calculate the speed ratio from given thrust and load torque is suggested and a 3-D map is constructed for the speed ratio-thrust-torque. Using the 3-D map, a steady state characteristic of torque cam and a transient response of a dry CVT vehicle are investigated by simulation. It is found that initial spring compression plays a key role in determining the sliding criteria and the speed ratio velocity.