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임수철,유삼현,Lim, Soo-Chul,Yoo, Sam-Hyeon 한국군사과학기술학회 2008 한국군사과학기술학회지 Vol.11 No.6
Future Combat System(FCS), such as unmanned systems that reduce the danger faced by soldiers in the field, are likely to be studied and developed. Soldiers when finding and disposing of mines risk injury and death. Several methods of safe mine retrieval are investigated. In this paper, a mine removal method, which uses a remote controlled robot to get rid of mines using a 4 channel architecture teleoperation method is used. The robot, when in contact with soil and mines, is controlled by a remote control. The feasibility of using teleoperation controlled system to remove mines is demonstrated in this paper. The Matlab-Simulink was used as a tool to simulate mine removal with robots. The force and position of the robot{slave system of 4 channel architecture) and controller(master system of 4 channel architecture) are analyzed when users handle the controller with sinusoidal force.
형상기억합금 작동기를 이용한 비접촉 시동 및 정지형 하드디스크 드라이브의 운동제어
임수철,박종성,최승복,박영필,Im, Su-Cheol,Park, Jong-Seong,Choe, Seung-Bok,Park, Yeong-Pil 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.1
In this work, we propose a new type of HDD suspension featuring shape memory alloy (SMA) actuator in order to prevent the contact between the slider and disk. The principal design parameters are obtained from the modal analysis using finite element analysis, and then the dynamic model is established to formulate the control scheme for Non-Contact Start/stop mode drive. Subsequently, a robust H$\_$$\infty$/ control algorithm is designed by integrating experimentally-Obtained SMA actuator dynamics to the proposed HDD suspension system. The controller is empirically realized and control results for the load/unload profiles are presented in time domain. In addition, the contact signal between the slider and disk is measured by the electrical resistance method.