• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.264-268
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• 2003

Recently reduction of industrial products in size and weight has been increased by application of micro-drills in gadgets of high precision and a great interest of a micro-drilling has been raised. Due to the lack of tool stiffness and the chip packing, the micro-drilling requires not only the robust tool structure which has not affected by vibration but also effective drilling methods designed to prevent tool fracture from cutting troubles. This paper presents an optimum design shape of a 0.15 mm micro-drill associated with a new manufacturing process to improve the production rate and to lengthen the tool life and suggestions on the micro-drilling characteristic properties associated with the tool life and workpiece quality.

• Journal of Institute of Convergence Technology
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• v.10 no.1
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• pp.37-40
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• 2020

Automotive battery system consists of various components such as battery cells, mechanical structures, cooling system, and control system. Recently, various computational technologies are required to develop an automotive battery system. Physics-based cell modeling is used for designing a new battery cell by conducting optimization of material selection and composition in electrodes. Structural analysis plays an important role in designing a protective system of battery system from mechanical shock and vibration. Thermal modeling is used in development of thermal management system to maintain the temperature of battery cells in safe range. Finally, vehicle simulation is conducted to validate the performance of electric vehicle with the developed battery system.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.107-113
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• 1995

This paper presents the earthquake response analysis results on the Large-Scale Seismic Test (LSST)structure which was built at Hualien in Taiwan. The seismic analysis is carried out using a computer code KIESSI, which has been developed based on the three-dimensional axisymmetric finite element method incorporating infinite elements for the far field soil region. The soil and structural properties obtained from the post-correlation study of the forced vibration tests (FVT) are utilized to predict seismic responses. The ground accelerations recorded at a site 56.5 m from the test structure are used as control motions. It has been found that the predicted responses are reasonably compared with the observed responses.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2009.04a
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• pp.536-539
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• 2009

BIRDI(Bridge Inspection Robot Development Interface)에서 현재 개발된 첨단굴절로봇차는 비전 시스템과 로봇 플랫폼을 붐에 장착하여 교량 하부를 점검하는 점검용차량이다. 본 연구에서는 첨단굴절로봇차의 포스트 붐에 엑츄에이터를 장착하여 강풍 등으로 발생이 예상되는 유해 진동을 제어할 수 있는 시스템을 제안하였으며, 성능 평가를 위해 수치적 연구를 수행하였다. 제안된 제어시스템의 수치적 연구를 위해 현재 제작된 포스트 붐과 작업 붐의 제원을 이용하여 모델링 하였으며, 적절한 주파수 특성을 가진 하중을 가정하였으며, 최적 제어이론인 PD제어기법인 피드백 제어기법을 적용하여 수치해석을 수행 하였다. 수치해석 결과, 제안된 제어시스템은 L형 붐에 발생되는 유해 진동을 저감시킴을 확인하였다. 본 연구를 통해 제안된 시스템의 진동제어 성능을 입증하였으며, 실제 첨단굴절로봇차에 적용될 경우 점검 시스템의 성능을 향상시킬 수 있을 것으로 사료된다.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2585-2588
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• 2003

2 관성 공진계는 마른 응답을 위해 제어이득을 크게 하면 공진에 의해 축비틀림 진동이 일어나는 경우가 많다. 본 논문에서는 반복 학습 제어기법을 활용하여 불확실한 모델 계수를 포함하는 2 관성 공진계의 진동억제를 시도한다. 2관성 공진계의 경우 제어 대상이 되는 부하측 속도는 학습 제어로 직접 적용하기가 힘들고 또한 측정 또한 어렵다. 본 논문에서는 부하측 속도와 전동기측 속도간의 관계를 이용하여 직접 부하측 속도를 제어하는 대신 전동기측 속도를 제어하여 간접적으로 부하측 속도를 제어하였다. 제안된 방식은 전형적인 2 관성 공진계에 모의 실험을 통해 적용되었고, 정확한 모델이 없이도 진동 없는 마른 응답특성을 보여준다.

• Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.312-321
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• 2016

Dynamic behaviour of a slider-crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. The first scheme is based on feedback linearization approach and the second one is based on a sliding mode controller. The input signals are applied by an electric motor located at the crank ground joint, and two layers of piezoelectric film bonded to the top and bottom surfaces of the connecting rod. Both of the controllers successfully suppress the vibrations of the elastic linkage.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.3
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• pp.106-114
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• 1998

Cogging torque is often a principal source of vibration and control difficulty in permanent magnet motors, especially at low speeds and loads. For example, reduction of cogging torque is an important specification for DC motors used for electric power stee- ring. This paper examines two motor design techniques, stator tooth notching and rotor pole skewing with magnet pole shaping, for reduction of cogging torque, and the effect of each method on the airgap flux, and the use of the Maxwell stress method and Fourier decomposition to calculate the periodic cogging torque. The analyses show that the cogging torque can be nearly eliminated by the suggested designs, with minimal scacrifice of output torque.

• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.140-142
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• 2006

Cogging torque is often a principal source of vibration, noise and difficulty of control in permanent-magnet brushless DC motors. Cogging torque can be minimized by sinusoidal air-gap flux density waveform because it is produced by the interaction of the rotor magnetic flux and angular variation in the stator magnetic reluctance. Therefore, this paper will present a design method of magnetization system of bonded isotropic neodynium-iron-boron(Nd-Fe-B) magnets in ring type with sinusoidal air-gap flux density distribution and low manufacturing cost. An analytical technique of magnetization makes use of two-dimensional finite element method(2D FEM) and Preisach model that expresses the hysteresis phenomenon of magnetic materials in order for accurate calculation.

• Proceedings of the KIEE Conference
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• 1997.07f
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• pp.2101-2103
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• 1997

In this paper, micro step driving method is used for a high performance motion control and minimizing of vibration in a industrial X-Y table. By using a mathmetical analysis method of 2 phase Hybrid-type step motor, each phase current can be optimized about unit speed and torque. We can improve the electrical and mechnical driving charicteristic of machine by applying this proposed driver to the real plant using microprocessor.