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Robotic Stirring Mechanism with Novel Actuator for an Automated Drug Discovery Workcell |
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Yunqi Huang, Chin-Boon Chng, Jie Wu, Chee-Kong Chui(National University of Singapore, Singapore) |
| One of the main challenges of traditional chemical synthesis is that it is labor-intensive and generates a lot of waste due to repetitive reaction manipulation. This paper presents a robotic end effector system with three degrees of freedom (DOF) to facilitate the automation of tasks in a drug discovery workcell. This robotics system features a unique remote center of motion (RCM) spherical-linear mechanism and a novel hollow double spring vacuum actuator (HDSVA) that uses soft elastic material and springs for actuation and structural integrity. |
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Optimal Algorithm Applied Design of 7kW Servo Motor using Subdomain Method |
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Young-Ho Hwang, DoHyun Jang, In-Seok Song, Seok-Won Jung(Sungkyunkwan University, Korea), Yong-Jae Kim(Chosun University, Korea), Sang-Yong Jung(Sungkyunkwan University, Korea) |
| Servo systems are widely used in industries that require precise control. Therefore, when designing a motor
for a servo system, it is important to consider both cogging torque and torque ripple, which can affect vibration. An
optimal design should take into account these factors. The classical optimization methods based on magnetic equivalent
circuit(MEC) or finite element method(FEM) are not suitable for multi-objective problems due to their inherent inaccuracies or lengthy calculation times. Therefore, this paper utilizes the subdomain method(SDM) for optimization, which offers greater accuracy than MEC and faster processing than FEM. |
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Distributed pose estimation with orientation errors |
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Jae-Gyeong Lee(KERI, Korea), Koog-Hwan Oh(Korea Electronics Technology Institute, Korea), Hyoung-Woo Kim, Hong-Ju Kim(Korea Electrotechnology Research Institute, Korea) |
| This paper proposes a distributed pose estimation algorithm for multi-agent systems with orientation errors. To achieve that, each agent only utilizes relative information under the interaction topology. The algorithm consists of two components: distributed orientation estimation and distributed position estimation. First, the distributed orientation estimation ensures that estimated orientations converge exponentially to a finite point in finite time, even in the presence of orientation errors. Then, the distributed position estimation based on the estimated orientation ensures exponential convergence of estimated positions. |
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Optimization of MW-Class Dual Three-Phase Permanent Magnet Synchronous Machines for Electric Propulsion Vessels Considering Fault Condition |
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DoHyun Jang, Young-Ho Hwang, Seok-Won Jung(Sungkyunkwan University, Korea), Yong-Jae Kim(Chosun University, Korea), Sang-Yong Jung(Sungkyunkwan University, Korea) |
| Electric propulsion vessel (EPV) systems require high reliability, redundancy, and a wide operation range. The dual three-phase permanent magnet synchronous machines (DTP-PMSM) allows for a backup system in case one set of three-phase circuits fails, ensuring that the vessels can continue to operate without disruption. However, the dual three-phase structure exhibits nonlinear performance differences between fault operation (driven by a single inverter module) and normal operation (driven by multiple inverter modules) due to mutual effects. Taking this into consideration, this paper focuses on the optimal design of DTP-PMSM applied in MW-class EPV systems under fault conditions. |
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Software Structure Design for Implementing Machine Tool Feed Axis Control Algorithms |
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Kyungah Kim, Joon Young Choi(Pusan National University, Korea) |
| The feed shafts of machine tools are subject to vibration and disturbance due to movement and machining, which leads to a decrease in machine tool performance. For compensation, the machine tool drive can be equipped with various motor control algorithms. This paper proposes a structural design of an algorithm management system to facilitate the parameter value settings and application of motor control algorithms, and a total of 13 algorithms are implemented in the drive to verify the operation of the system through experiments. |
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Torque Distribution Mechanism for Wearable Upper Arm Robots Using Cam-Following Mechanism |
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Hyuk Jin Lee(KERI, Korea), Chang-Huk Lee, Hyoung Woo Kim, Jae-Gyeong Lee, Hong Ju Kim(Korea Electrotechnology Research Institute, Korea) |
| The paper introduces a novel Torque Distribution Mechanism (TDM) for wearable upper arm robots, using a motor-driven cam-following mechanism. Unlike traditional rigid upper arm-wearing robot devices with high manufacturing costs, our approach employs flexible materials. However, existing flexible devices often lack sufficient degrees of freedom. To overcome this, we present a variable stiffness mechanism that efficiently distributes assist torque to the elbow and shoulder joints. This mechanism integrates a motor, spring-wire, and cam-follower, accommodating varying torque needs for different tasks. Wearers can generate desired torque outputs based on joint angles. |
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