• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.3
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• pp.348-354
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• 2015

Using a magnetic gear, the speed and torque of the driving axis can be decreased and increased, respectively, similar to a mechanical speed reducer. In particular, because the driving side can be isolated mechanically from the load side, the magnetic gear was developed for application with environmental constraints. Of the existing topologies used for the magnet gear, the filtering method of a specified magnetic component is the most competitive. In this paper, a novel unified harmonic modulator is applied to filter the specified component. The torque conversion method using this modulator is described in detail, and the key factors of the modulator are derived from the influence on the resulting torque. The experimental setup was constructed and its torque transmission efficiency measured for varying loads. The transient characteristic from an excessive load is compared with the theoretical simulation.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.708-710
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• 2003

This paper presents design sensitivity analysis for the electromagnetic force and torque obtained from Coulomb's virtual work method using the adjoint variable method. And virtual displacement field is calculated from a static structural analysis. Derived equations are verified by comparison with finite different method. And topology optimization for a c-core is given as a verification example.

• Journal of the Korean Magnetics Society
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• v.8 no.6
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• pp.388-394
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• 1998

We designed and fabricated an improved null-type torque magnetometer for measuring magnetic anisotropy of magnetic materials. This torque magnetometer has a measurement range of $~{\pm}15$ dyne.cm, and the range can be controlled. Resolution is ~0.0005 dyne.cm. Noise level is less than 0.01 dyne.cm with one measurement, and less than 0.004 dyne.cm with 10 averaged measuremets. The precision is less than 0.5 %. In contrast to typical null-type torque magnetometers, we placed a small ferrite magnet in the Helmholtz coil, instead of placing coil in the permanent magnet. From this novel sturucture, we can design a geometrically isotropic and relatively light-weight sample rod. Also, we can prevent the effect of input and output lines of coil exposed in the magnetic field in torque meter. Consequently, our novel null-type torque magnetometer can have a better sensitivity, faster response time, and smaller distortion of torque curve than commercially available torque magnetometers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.506-517
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• 2000

One dimensional performance model has been used for the design of torque converter. The model is based on the concept of constant mean flow path and constant flow angle. These constant-assumed para meters make the design procedure to be simple. In practice, some parameters are usually replaced with geometric raw data and, the constant experiential correction factors have been used to minimize the design error. These factors have no definite physical meaning and so they cannot be applied confidently to the other design condition. In this study, the detail dynamic model of torque converter is presented to establish the theoretical background of correction factors. To verify the validity of theoretical model, steady state performance test was carried out on the several input speed. The oil temperature effect on the performance is analysed and adjusted. The constant equivalent flow angles are determined at a part of performance region by comparing the theoretical model and the test data. The sensitivity of correction factors to the input speeds are studied and the change of torus flow is presented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.6
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• pp.557-564
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• 2019

The characteristics of the torque and torque ripple of Interior Permanent Magnet Synchronous Motor(IPMSM) are influenced by the size and position of the rotor magnet and the size of the stator slot. This paper deals with the optimal design method for improving torque and torque ripplerate for IPMSM using Response Surface Methodology(RSM). Two objective functions of torque output and torque ripple were derived from the sensitivity analysis by Plackett-Burmann(PB) for the characteristic variables affecting torque and torque ripple. Secondary characteristic variables were selected from the derived objective function and RSM secondary regression model function was estimated by the experiment schedule and analysis results according to the Central Composite Design (CCD). The reliability of the secondary regression model was verified using ANOVA table. The analysis according to the experimental schedule was verified by JMAG(Ver. 18.0) which is Finite Element Method(FEM) software. The torque output of IPMSM applied with final characteristic variables was increased torque output by 11.5 % and the torque ripplerate was reduced by 9.1 %.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.929-931
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• 1993

The design sensitivity analysis based on the finite element method is presented for the eddy current problem with a voltage source. Since, in this problem, the complex variable is used as the state variable, new approach to the sensitivity calculation for the complex variable system is required. Its result is applied to the design of the rotor slot shape of squirrel cage induction motor. As a analysis model, only one slot pitch of rotor is analyzed by using a Periodic boundary condition. The use of this minimal modelling method leads to much saving of calculation time. The design objective is to obtain the desired slip-torque characteristic. Because the shape of rotor slot has much influence on the slip torque characteristic, the design variables are taken on the interface shape between rotor core and rotor bar. The initial shape of rotor slot is the trapezoidal type with rounding corners. The obtained final shape is quite similar to the double squirrel cage type.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.580-585
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• 2001

A response surface method(RSM) is utilized for structural optimization and implemented on a parametric CAD platform. Once an approximation of the performance function is made, no formal design sensitivity analysis is necessary. The approximation gives the designer the sensitivity information and furthermore intuition on the performance functions. The scheme for the design of experiment chosen for the RSM has a large influence on the accuracy of converged solutions and the amount of computation. The D-optimal design criterion as implemented in this paper is found efficient for the structural optimization. The program is developed on a parametric CAD platform and tested using several shape design problems of such as a torque arm and a belt clip. It is observed that the RSM used provides a faster convergence than other approximation methods for design sensitivity.

• Proceedings of the KIEE Conference
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• 1999.11b
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• pp.193-196
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• 1999

This paper presents a new systematic contingency selection and screening method for transient stability. The variation of modal synchronizing torque coefficient(MSTC) is computed using eigen-sensitivity analysis of the electromechanical oscillation modes in small signal stability model and contingencies are ranked in decreasing order of the sensitivities of the MSTC(SMSTC). The relevant clusters are identified using the eigenvector or participating factor. The proposed algorithm is tested on the KEPCO system. Ranking obtained by the SMSTC is consistent with the time simulation results by PSS/E.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.401-406
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• 2011

The abnormal vibration from the BTV(Brake Torque Variation) and DTV(Disc Thickness Variation) is transferred to the suspension and steering system during braking. In this paper, judder simulation is carried out using multi-body dynamic analysis program to analyze the relation of the judder and transfer mechanism which is composed of the suspension and steering system. In order to analyze the brake judder transfer system, the full vehicle model was composed with rigid body, non-linear bushing, non-linear constraints and joints. Full vehicle model analysis was compared by actual vehicle judder test and sensitivity analysis of the suspension system is carried out.