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A Control System for Dual-Axis Linear Motor
Yoshiyuki UCHIDA,Shigemitsu NOHIRA,Yoshiyuki SElKE,Hiroyasu SHINGU,Tetsuo SUMI,Hideo FURUHASHI,Jun YAMADA 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
Fundamental positioning characteristics of a dual-axis Sawyer linear motor are described. The Sawyer motor is capable of high positional accuracy. An electronic control unit of the motor whose velocity is proportional to the frequency of the electric current was produced in our laboratory. The positioning system was constructed using two Sawyer motors, an air bearings suspension unit and an electronic control unit. The stable motion of the motor was confirmed on the open loop operation. The adjustable operating conditions were the live load of 1㎏, the maximum acceleration of 1.2G and the maximum velocity of 350㎜/s. Absolute positioning accuracy was improved within ±5㎛, on microstep operating conditions of dividing one pitch of 508㎛ into 508 steps. The following two conclusions were obtained. An accelerating-cruising-decelerating control is effective for reduction in the travel time required. Also, microstep operation is effective for improving the resolution of position.
Upper-Limb Rehabilitation Exercises Using Haptic Device System
Yoshiyuki Takahashi,Takafumi Terade,Kaoru Inoue,Yuko Ito,Hokyoo Lee,Takashi Komeda 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.2
We have applied a haptic device to the rehabilitation tool and made efforts to integrate the motion and sensory therapy, in order to avoid boredom that the patients usually feel. This rehabilitation tool system consists of a haptic device, a display, a computer, and software for training. When the user moves the grip, the haptic device provides a virtual force and it can either assists the movement of the arm or work against it. We have carried out a preliminary experiment with young and middle age group and elderly group. It aims to confirm the functionality of this system and to collect the reference data for the evaluation of the upper-limb disability. The results of our experiment show that the system could be used to evaluate the patient"s ability of upper-limb motion.
Two Dimensional Measurement of Electron Density in LHD plasmas by Sheet-Shaped Thermal Lithium-Beam
yoshiyuki Takahashi,K. Toi,T. Morisaki 한국물리학회 2006 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.49 No.III
In the Large Helical Device (LHD), of which the magnetic surfaces are surrounded by a complicated ergodic magnetic field layer, two dimensional measurement of electron density was carried out by using a thermal lithium beam shaped into a sheet extended along the major radius. The thermal lithium beam having a sheet shape was produced in a simple way, the lithium vapor was passed through three orifices placed in front of an aperture of an oven, and was injected vertically into the LHD plasma. Two dimensional images of LiI emission were obtained by using a CCD camera with an interference filter for the LiI spectral line. A two dimensional profile of electron density near the plasma edge region was successfully derived from the LiI emission image.