• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1996.10a
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• pp.70-77
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• 1996

In this study, sliding response analysis of free standing structure such as multi-purpose nuclear spent fuel storage cask is peformed. The governing factors of sliding response are aspect ratio of structure and ground acceleration. The vertical acceleration component is very important factor in the sliding response of the structure. Based on the mathematical model, computer program is developed using direct forward integration method to predict the sliding response. Using the program, several parametric studies were made for sinusodial ground motion and for El Centre 1940 earthquake and Mexico 1973 earthquake. From the results, it is known that the frequency content and duration of strong motion affect the sliding of the structure.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.71-76
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• 2008

This paper is concerned with the active vibration control of elevator by means of the active roller guide. To this end, a dynamic model for the horizontal vibration of the elevator consisting of a supporting frame, cage and active roller guides was derived using the energy method. Free vibration analysis was then carried out based on the equations of motion. Active vibration controller was designed based on the equations of motion using the LQR theory and applied to the numerical model. Rail irregularity and wind pressure variation were considered as external disturbance in the numerical simulations. The numerical results show that the active vibration control of elevator is possible.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.361-367
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• 2014

Ultra-precision positioning plays a crucial role in emerging technologies such as electronics, bioengineering, optics, and various nanofabrication technologies. As a result, various nanopositioning methods have been presented. In particular, nanopositioning using a flexure mechanism and piezo-electric actuator is one of the most valuable methods because of its friction-free motion and subnanometer-scale motion resolution. In this study, a rotational nanoactuator based on a right-circular flexure mechanism and piezo-electric actuator was developed through a consideration of the kinematics and structural deformation. An experimental setup was constructed to verify the performance expectation. Consequently, it was demonstrated that the developed system had a maximum rotational angle of about 0.01 rad, as well as sufficient linearity with respect to the input voltage.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.277-282
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• 2001

Partial rotor rub occurs when an obstacle on the stator of a rotating machinery disturbs the free whirling motion of a rotor, which is more common than full annular rub for the cases of rubbing in rotating machinery. The nonlinearity due to the intermittent contacts and friction during partial rotor rub makes the phenomenon complex. The several nonlinear phenomena of superharmonics, subharmonics, and jump phenomenon are demonstrated for the partial rub using an experimental apparatus in this study. A piecewise-linear model and a rebound model using the coefficient of restitution are investigated on the basis of experimental observations in order to adopt as an analytical model of the contact between the rotor and stator during whirling motion. The contact stiffness, coefficient of restitution, and friction coefficient for the contact during partial rub are calculated from the comparison between the numerical simulation and the experimental results. Also, the numerical simulations for the model of partial rub are done for the various system parameters of clearance, contact stiffness, and friction coefficient in order to find the nonlinear behavior of partial rotor rub.

• Structural Engineering and Mechanics
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• v.9 no.1
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• pp.1-16
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• 2000

To study the dynamic response of a rigid block standing unrestrained on a rigid foundation which shakes horizontally, four modes of motion can be identified, i.e., rest, slide, rock, and slide and rock. The occurrence of each of these four modes and the transition between any two modes depend on the parametric values specified, the initial conditions, and the magnitude of ground acceleration. In this paper, a general two-dimensional theory is presented for dealing with the various modes of a free-standing rigid block, considering in particular the impact occurring during the rocking motion. Through selection of proper values for the system parameters, the occurrence of each of the four modes and the transition between different modes are demonstrated in the numerical examples.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.404-407
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• 1995

Teleoperating system has been developed for several decades, and many control schemes for it have been suggested. But the implementation for real application needs very simple but effective controller. In this paper, an advanced control scheme for this purpose is suggested, which is the combination of a modified internal model controller and variable filter for force reflection. And we verify the effectiveness of the proposed scheme through the experiment. We use PUMA-560 as the slave robot, which is operated by velocity servo loop with geared motor. Both the responses of free motion and contact motion are shown.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.748-754
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• 2012

In this paper free vibration analysis of symmetric and cross-ply elastic laminated shells based on FSDT was performed through discretization of equations of motion and boundary condition. Model of laminated composite shells subjected to a combination of magnetic and thermal fields is developed. These coupled equations of motion are based on the electromagnetic equations (Faraday, Ampere, Ohm, and Lorenz equations) and thermal equations which are involved in constitutive equations. Dynamic characteristic of composite shells for change of magnetic fields is investigated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.113-120
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• 2006

In this paper, generation mechanisms of ocean freak waves are briefly introduced in the context of wave-current interaction phenomena. As an accurate and efficient numerical tool, the spectral element method is presented with general features and specific treatment for the wave-current interaction problem. The present model of the fluid motion is based on the Navier-Stokes equations incorporating a velocity-pressure formulation. In order to deal with the free surface motion, an Arbitrary Lagrangian-Eulerian (ALE) description is adopted. As an intermediate stage of development, solution procedure and characteristic aspects of the present modeling and numerical method features are addressed in detail, and numerical results for wave-current interaction is left as further study.

• Proceedings of the KIEE Conference
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• 2004.04a
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• pp.247-249
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• 2004

Electric systems can be classified into two classes on the basis of the location of its energy source. One system is to be connected with its outside energy source. Obviously, these electric system is limited of its motion range and impossible to operate in the situation without a way to find an energy source nearby. another is to posses the energy source within it. These electric systems are free of motion range limit while their using is limited by the life of source. These limits can be tided over by using passive-type RF communication. RF-ID is a system that Is possible to interchange electricity and data by Radio Frequency to locate and identify various objects including a man.