• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.201-207
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• 2008

The purpose of this study was to examine the Roche technique performed by three male subjects in 2003 Taegu World Students Game. Conclusions are as followed. If the angular momentum was increased to counter-clockwise on voulting, the momentum acted like an interrupting factor of body spinning force. The biggest body angle was at VTD phase and the smallest was at BTO phase. At the phase of contacting on vaulting board and taking off from the vaulting board, the biggest personal angle difference between VTD and BTO was found. As the Roche technique was needed not only to fly high but also to increase body spinning rate, the projection angles of Roche technique were showed smaller than those of Cuervo technique. The angular velocity was peak during 2 times forward turn phase. The angular momentum was influenced by angular velocity from BTO and VTD phase.

• Journal of the Korean Geotechnical Society
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• v.19 no.5
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• pp.59-67
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• 2003

In this study, the change in hydraulic conductivity according to the changes in the contact area, aperture, confining pressure and temperature was observed to improve the reliability of the analysis of underground water flow. Also, the mechanical and thermal properties of domestic crystalline rocks in a great depth were obtained. It was found that the averaged intial aperture ranged from 544.33${\mu}{\textrm}{m}$ to 898.62${\mu}{\textrm}{m}$ and it followed a log-normal distribution. The hydraulic conductivity decreased with the increase of normal stress on the fracture surface and the hydraulic conductivity decreased as temperature increased. The change in hydraulic conductivity was strongly correlated with the change in contact area. It was verified by experiments that hydraulic conductivity was inversely proportional to the contact area. The measured mechanical and thermal properties were very close to the existing typical properties of domestic granites.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• Tunnel and Underground Space
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• v.9 no.4
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• pp.328-336
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• 1999

To characterize the hydro-mechanical behavior of a rock joint, a rotary shear testing apparatus was devised in this study. Shear stress was driven by twisting the end of a sample in the rotary shear testing apparatus. The test results show that the rotary shear test underestimates the peak shear strength of a rock joint. The torque is known as a function of the radial distance from the axis of rotation, resulting in the radial variation of the shear stress. Fluid flow through rock joints is mainly dependent on the Joint roughness, contact area, initial aperture. To examine the dependency, the relationship between the hydraulic and the mechanical apertures for shear-flow was established by measuring the initial aperture. It shows that the mechanical aperture and the hydraulic aperture increase linearly with the dilatancy. The difference between the hydraulic and mechanical apertures describes the deviation from the behavior predicted by the parallel plate model.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.253-263
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• 2012

With the local Hertz deformation on the contact point, the dynamic contact between a high-speed wheel and an elastic beam having a gap is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the time integration the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Especially the acceleration contact condition on the gap is formulated, and it is demonstrated that the contact force variation computed by the velocity contact constraint or by the acceleration contact constraint agrees well with that computed by the displacement contact constraint. The numerical examples show that, when the wheel passes on the gap, the solution is governed by the stiffness of the local Hertzian deformation.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.826-830
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.5 s.122
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• pp.427-436
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• 2007

The catenary of a high-speed electrical train is modeled by the finite elements with the upper suspension wire, lower contact wire, and droppers, and the dynamic contact between the catenary and the pantograph is numerically analyzed by solving the whole equations of motion of the pantograph and the catenary system subjected to the contact condition. For the stability of the numerical solution, with the cubic spline interpolation of the catenary displacement, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the various numerical examples, it is shown that the dropper positions as well as the static deflection are crucial to determine the contact and separation of the pantograph of a high-speed train.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1988.06a
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• pp.1-11
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• 1988

Tribology라는 용어는 마찰, 마모, 윤활의 과학, 기술을 한마디로 나타내는 말이다. 우리들의 일상생홀, 산업활동, 특히 소성가공에서 Tribology의 역활의 중요성은 새삼 강조할 필요가 없다. 소성가공에서 가공방식, 공구, 소재, 온도, 속도에는 무수한 조합이 있고, 마찰-마모-윤활의 상효연관 또한 복잡하다. 역학, 열전달, 물리학, 화학적과정이 동시에 상호작용을 하면서 진행하는 이 시스템에서는 크게는 공작기계로부터 작게는 micron정도의 표면과 윤활막 뿐만 아니라, 경우에 따라서는 ${\AA}$ 정도의 정체불명체가 결정적인 역활을 한다. 본 고에서는 냉간압연, 단조, 인발등에 Tribology를 응용하는 입장에서 Tribology system의 일부를 공구와 재료의 윤활제를 개재한 micro 접촉상황을 중심으로 분류정리하고, 이것과 공업적 소성가공에서 공구 - 재료접촉면현상과 그 연계를 가능한 한 이해하기 쉽게 서술하였다. 이를 통하여 소성가공기술자 및 연구자가 소성가공의 목적을 달성하는 가운데, Tribology 적으로 양호한 결과를 경제적으로 얻고자하는 시행, 개발, 연구에 대해 도움이 되고자 한다.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1030-1035
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• 2003

The nanoimprint lithography technology makes higher density of semiconductor device and larger capacity of storage media. In this technology the induced damage while detaching polymer pattern from mold should be minimized. In order to analyze the problem, the basic knowledge of adhesion between the polymer and the mold is required. In this study a contact experiment of polyisobutylene specimen with spherical steel tip and polyisobutylene bead tip was conducted using nano indenter. During the contact experiment with various loading rate under load control the contact behavior of viscoelastic material was measured, i.e., the load and displacement between the tip and the specimen were measured. The data was analyzed by HBK model to obtain the stress intensity factor of contact edge and the contact radius as a function of time. Also the adhesion energies between steel/polyisobutylene and polyisobutylene/polyisobutylene were obtained employing the analysis of the crack of viscoelastic material by Schapery.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.5
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• pp.541-549
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• 2008

The dynamic contact between a high-speed wheel and an elastic beam is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the numerical solution, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the numerical examples, it is shown that the acceleration contact constraint including the Coriolis and centripetal accelerations are crucial for the numerical stability.