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Planar actuators have high-performance drive with multi-degrees of freedom. This study involves a planar actuator with a small mover capable of traveling over large displacements. This paper proposes six-armature currents control to levitate the mover and to control the large translational and the yaw motions above a plane, and describes numerical analysis results of the six-degree-of-freedom motion characteristics. The numerical analysis results indicate that the mover can be levitated stably and travel over large displacements above the plane with less interference to the vertical and yaw motions. Index Terms--Magnetically levitated mover, planar actuator, six-armature currents control, six-degree-of-freedom motion.

We report a three-degree-of-freedom actuator with a small mover that can travel over large displacements on a plane. Such direct drives with multiple degrees of freedom are an emerging technology because of their high performance. Previously, we designed planar actuators capable of generating thrusts anywhere in the movement area and successfully demonstrated the two-dimensional drive of the actuator in the translational direction. However, during translational motion control on the plane, a slight oscillatory yaw motion occurred. Thrusts and torques of the actuator are proportional to the d- and q-axis currents, which generate flux densities with 90[degrees] and 0[degrees] phase-leads, respectively, from the flux density generated by the permanent magnets of the mover. Therefore, the thrusts and torques can be generated independently by the d- and q-axis current control. In our new design, we use a decoupling control on the planar actuator to control both yaw and translational motions on the plane. We describe the experimentally obtained drive characteristics of this actuator. The experimental results indicate that the mover can travel over large yaw and translational displacements independently and simultaneously with relatively precise positioning and response. Thus, we have demonstrated satisfactory performance of a planar actuator with three degrees of freedom. Index Terms--Decoupling control, large displacements, planar actuator, translational motion, yaw motion.

In this experiment, 351 pesticides and 441 different organic compounds were analyzed by GC/MS, and a database of retention time, retention index, monoisotopic mass, two selected ions, molecular formula, and CAS numbers was created. The database includes compounds such as alcohols, aldehydes, carboxylic acids, esters, ethers and hydrocarbons with unpleasant odors. This database is expected to be useful for health crisis management in the future.