• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2476-2481
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• 2007

An inverse radiation analysis is presented for the estimation of the wall emissivities for an absorbing, emitting, and scattering media with diffusely emitting and reflecting opaque boundaries. In this study, a repulsive particle swarm optimization(RPSO) algorithm which is a relatively recent heuristic search method is proposed as an effective method for improving the search efficiency for unknown parameters. To verify the performance of the proposed RPSO algorithm, it is compared with a basic particle swarm optimization(PSO) algorithm and a hybrid genetic algorithm(HGA) for the inverse radiation problem with estimating the wall emissivities in a two-dimensional irregular medium when the measured temperatures are given at only four data positions. A finite-volume method is applied to solve the radiative transfer equation of a direct problem to obtain measured temperatures.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.15 no.6
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• pp.535-538
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• 2002

Suspension effect has been studied by using superconductor of BiPbSrCaCuO ceramics containing $Ag_2()$. It has been clear that $Ag_2()$ acts as pinning center which plays an important role to the suspension effect. Magnetic repulsive force which affects a superconductor located in magnetic flux from toroidal magnet, has been investigated. It has been concluded that the suspension effect arises from the interaction between the pinning effect and the diamagnetic effect.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1996.10a
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• pp.202-206
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• 1996

An experimental study of the characteristics of the repulsiveytype magnetic bearing using high Tc superconductor is presented. In field cooling superconductor has the position-stability due to a flux pinning effect and the strong damping due to hysterisis, while in zero field cooling it has the only strong repulsive force due to Meissner effect. Lift force in superconducting levitation has a hysterisis characteristics, and it is the dissipation of energy, the mechanism of damping. As the relative linear velocity between a magnet and a superconductor increases, the area of the hysterisis loop becomes smaller. It means the decrease of damping. In field cooling, the static stiffness is very nonlinear in smaller than initial gap, but almost linear in larger than initial gap.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

• Tribology and Lubricants
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• v.11 no.1
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• pp.20-26
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• 1995

Most magnetic bearings are based on the attractive force between the magnets and ferrous materials. One of the disadvantages of such attractive type magnetic bearings is the instability so that an active control device is necessary to operate bearing successfully. In this study a repulsive type magnetic bearing is analyzed which uses eddy current as a force source. The load capacities are analyzed for the various gap sizes, the rotor velocities and the frequencies of current supplied to electromagnet. Analytic Results show that as the gap size decreases, the levitation and drag forces increase, while the number of poles increasqs, the drag force decreases in the higher linear velocity region. Experimental results show that as the gap size decreases the levitation and the drag force increase, and as the velocity of rotor increases, the drag is larger than the levitation force up to certain velocity. But after that, the levitation is larger than the drag force. As the frequency of the current increases the levitation and drag decreases while the thickness of rotor gets thicker the forces decrease because of increase in eddy current loss.

• Fibers and Polymers
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• v.2 no.2
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• pp.81-85
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• 2001

The effects of rate of phase separation to ester interchange reactions and the repulsive pair interaction energy on the phase behavior in a phase-separated immiscible polyester blend are investigated using a Monte Carlo simulation method. The time evolution of structure factor and the degree of randomness are monitored as a function of homogenization time. When the phase separation is dominant over ester interchange reactions, the domain size slowly increases with homogenization time. However, when the pair interaction becomes less repulsive, the domain size does not significantly change with homogenization time. On the other hand, when ester interchange reactions are dominant over the phase separation, the homogenization proceeds without a change in the domain size. The higher the extent of phase separation, the lower the increasing rate of the DR. However, when the phase separation is sufficiently dominant, the effect of the extent of phase separation on the increasing rate of the degree of randomness become less significant.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2003.10a
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• pp.11-15
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• 2003

In order to suppress a repulsive interfacial energy between hydrophilic clay and hydrophobic polymer matrix in preparing a polymer/clay nanocomposite, a third component of amphiphilic nature such as poly($\varepsilon$-caprolactone) (PCL) was introduced into the model system of styrene-acrylonitrile copolymers (SAN)/Na-montmorillonite. Once $\varepsilon$-caprolactone was polymerized in the presence of Na-rnontmorillonite, the successful ring-opening polymerization of $\varepsilon$-caprolactone and the well-developed exfoliated structure of PCL/Na-montmorillonite mixture were confirmed, Thereafter, SAN was melt-mixed with PCL/Na-montmorillonite nanocomposite, which resulted in that SAN matrix and PCL fraction were completely miscible to form homogeneous mixture with retention of the exfoliated state of Na-montmorillonite, exhibiting that PCL effectively stabilizes the repulsive polymer/clay interface and contributes the improvement of mechanical properties of the nanocomposites.