• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of the Korean Institute of Gas
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• v.25 no.5
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• pp.37-51
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• 2021

The pressure drop phenomenon that occurs when the same flow rate is supplied to the gas regulator was analyzed. The regulator moves the position of the piston through the interaction of the force acting on the upper and lower parts of the piston and the spring tension to release the pressure of a specific range in a specific environment as constant pressure, thereby maintaining the pressure. The flow characteristics and pressure control process of the regulator were investigated through a numerical analysis technique as the volume of the fluid inside the regulator changed. As the gap between the piston and the piston seat decreased, the pressure drop increased and the flow velocity increased. It was verified through numerical analysis that the piston was positioned at 0.12mm under the same conditions as the pressure-flow test (inlet pressure 3MPa, outlet pressure 0.8MPa, flow rate 70kg/h).

• Archives of design research
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• v.15 no.3
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• pp.201-212
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• 2002

This thesis is to study about The Issue of Treating Information, according to the circumstance of Digital Media in Contemporary Design. The Digital Design is being able to be organized by developed Science and Technology. Ultra fashionable mode of digital design is leading human life more comfortable and serviceable: and proceeded by technology aheaded by science Developed Computer will help the Space science and virtual reality. and They will lead more developed industrial culture. The design is influencing international society and economic circumstance, and it's making the changedness of product and commercial route. virtual reality and simulation made by developed science is resulting in new design revolution in our society. Especially, it is able to make more bigger result in image breaking and reassimilation. The technology of developed information treating infra is able to transmit & receive a message, which are beyond our sensual boundary and is the meaning of the human-being's progressive development of science culture. Developed information treating methodology made by technology and science of restoration will be Neo-reality for artists and are the cause of great changedness in 21st century's art & design.

• Economic and Environmental Geology
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• v.53 no.4
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• pp.347-362
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• 2020

Iron (hydro)oxides in aqueous environments are primarily formed due to mining activities, and they are known to be typical colloidal particles disturbing surrounding environments. Among them, hematites are widespread in surface environments, and their behavior is controlled by diverse factors in aqueous environments. This study was conducted to elucidate the effect of environmental factors, such as ionic composition and strength, pH, and natural organic matter (NOM) on the behavior of colloidal hematite particles. In particular, two analytical methods, such as dynamic light scattering (DLS) and single-particle ICP-MS (spICP-MS), were compared to quantify and characterize the behavior of colloidal hematites. According to the variation of ionic composition and strength, the aggregation/dispersion characteristics of the hematite particles were affected as a result of the change in the thickness of the diffuse double layer as well as the total force of electrostatic repulsion and van der Walls attraction. Besides, the more dispersed the particles were, the farther away the aqueous pH was from their point of zero charge (PZC). The results indicate that the electrostatic and steric (structural) stabilization of the particles was enhanced by the functional groups of the natural organic matter, such as carboxyl and phenolic, as the NOM coated the surface of colloidal hematite particles in aqueous environments. Furthermore, such coating effects seemed to increase with decreasing molar mass of NOM. On the contrary, these stabilization (dispersion) effects of NOM were much more diminished by divalent cations such as Ca²⁺ than monovalent ones (Na⁺), and it could be attributed to the fact that the former acted as bridges much more strongly between the NOM-coated hematite particles than the latter because of the relatively larger ionic potential of the former. Consequently, it was quantitatively confirmed that the behavior of colloidal hematites in aqueous environments was significantly affected by diverse factors, such as ionic composition and strength, pH, and NOM. Among them, the NOM seemed to be the primary and dominant one controlling the behavior of hematite colloids. Meanwhile, the results of the comparative study on DLS and spICPMS suggest that the analyses combining both methods are likely to improve the effectiveness on the quantitative characterization of colloidal behavior in aqueous environments because they showed different strengths: the main advantage of the DLS method is the speed and ease of the operation, while the outstanding merit of the spICP-MS are to consider the shape of particles and the type of aggregation.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.6-6
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• 2017

농용트랙터의 전방차축 현가장치는 노면으로부터 발생하는 진동의 영향을 줄일 수 있기 때문에 트랙터의 대형화, 고속화의 추세에 맞춰서 승차감과 조향감을 향상시키는 데 중요한 역할을 한다. 전방차축의 현가장치는 트랙터의 차체 무게에 의한 부하가 크고, 또한 유압 펌프를 비롯한 유압시스템이 존재하기 때문에 유압식 회로로 구성하는 것이 바람직하다. 하지만, 현가장치의 유압회로를 개발하는데 있어서 실제 시스템을 구성하여 실제 실험을 통한 개발에는 비용과 시간이 많이 필요하다. 본 연구에서는 유압식 전방차축 현가장치에 필요한 유압회로부 개발을 위하여 시뮬레이션 기법과 요인시험 장치를 이용 적정 유압회로를 설계하고자 하였다. 이를 위하여 어큐뮬레이터, 가변 오리피스, 릴리프밸브, 체크밸브 등으로 구성된 유압 현가요인 시험 장치를 설계 제작하였으며, 현가 부품인 실린더 행정, 속도, 전달되는 힘을 측정하고, 유압 해석 프로그램인 SimulationX를 이용 구성된 유압회로 부품에 측정값을 입력하여 실제 조건과 유사한 동특성을 나타내는 전방차축 현가요인 시뮬레이션 모델을 개발하였다. 개발된 시뮬레이션 모델을 이용하여 실제 시험조건과 같은 가진 조건을 부여하여 개발 현가장치의 특성 값 변동에 따른 현가 성능을 구명하였다. 이를 위해 시뮬레이션 상에서 120 마력 트랙터 무게의 50% 수준에 해당하는 2,000 kg의 부하가 존재하는 상태에서 현가장치의 유/무에 따른, 감쇠 계수의 변화에 따른 스프링상 질량의 RMS 가속도를 비교하였다. 입력 가진으로는 1 Hz, 4 Hz, 8 Hz의 진동수에 각각 10 mm, 6.4 mm, 3.2 mm의 진폭을 인가하였다. 시뮬레이션 결과, 1 Hz에서는 현가장치가 있는 경우 최대 55.9% 개선되었고, 4 Hz에서는 최대 3.9 % 개선되었고, 8 Hz에서는 최대 61.4%까지 개선되었다. 이는 4 Hz의 경우에는 2,000 kg의 부하에 해당하는 고유 진동수 대역에 해당하기 때문에 그 감쇠 효과가 없는 것으로 나타났다. 하지만, 다른 주파수 대역에서는 현가장치가 효과적으로 작동하는 것을 나타내었다. 설계한 전방차축 현가 유압회로부를 시뮬레이션을 통하여 분석한 결과, RMS 가속도의 개선이 명확하게 이루어지는 것을 확인하였으며 입력 주파수 변화에 따라 감쇠특성도 나타나는 것을 확인하였다. 추후 연구에는 설계한 유압회로부와 관련 부품을 설계 제작하여 실제 트랙터에 장착 그 성능을 검증할 예정이며, 노면조건에 따라 감쇠성능을 유지하기 위한 반능동형 또는 적응형 현가장치 제어 기술을 적용하여 개선된 현가성능을 확보하기 위한 연구를 수행할 예정이다.