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오종석(Oh, Jong-Seok),최승복(Choi, Seung-Bok) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.3
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.
HILS를 통한 무인항공기 카메라 지지 능동 마운트 시스템의 진동제어 성능 평가
오종석(Oh, Jong-Suk),최승복(Choi, Seung-Bok),조한준(Cho, Han-Jun),이철희(Lee, Chul-Hee),조명우(Cho, Myeong-Woo) 한국소음진동공학회 2010 한국소음진동공학회 논문집 Vol.20 No.8
In the present work, vibration control performance of piezoactuator-based active mount system for unmanned aero vehicle(UAV) equipment is evaluated via hardware in the loop simulation(HILS). At first, the vibration level of UAV is measured and from this vibration data, the proper piezostack actuator is selected. Then, the dynamic model of active mount system including four active mounts and UAV camera equipment is derived. In order to evaluate vibration control performance, the HILS system is constructed. The proposed mount is prepared as hardware part and the other mounts are considered in software part. A sliding mode controller is designed and implemented to the HILS system. Effective vibration control results are presented in both time and frequency domains.
무인항공기 임무장비용 압전 마운트 시스템의 진동 제어 성능 평가
오종석(Oh, Jong-Suk),손정우(Sohn, Jung-Woo),최승복(Choi, Seung-Bok) 한국소음진동공학회 2009 한국소음진동공학회 논문집 Vol.19 No.12
In the present work, vibration control performance of active camera mount system for unmanned aero vehicle(UAV) is evaluated. An active mount featuring inertia type of piezostack actuator is designed and manufactured. Then, vibration control performances are experimentally evaluated. A camera mount system with four active mounts is constructed and mechanical model is established. The governing equation for the camera mount system is obtained and control model is constructed in state space model. Sliding mode controller which has inherent robustness to external disturbance is designed and implemented to the system. Vibration control performances are evaluated at each mount and center of gravity point. Effective vibration performances are obtained and presented in time and frequency domains.