• 한국산업보건학회지
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• 제15권1호
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• pp.1-7
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• 2005

Although the Fourier Transform Infra-Red spectrophotometric Direct on Filter(FTIR-DOF) method is a useful analytical technique for quantifying quartz content in respirable dust samples, a number of analytical problems must be taken into consideration such as, to name only a few, inhomogeneous deposition of particles, level of environmental humidity, uneven surface of the filter, and interfering minerals in the sample. This study was designed to select the most suitable wavelength and proper filter material for the method, and to investigate effects of humidity and inhomogeneous deposition of particles on the filter. Samples of respirable dust, created in a dust chamber containing standard material of quartz, were collected using a cyclone equipped with a 25mm filter as a collection medium. The results were as follows; 1. Among seven (7) commercially available filters tested for the FTIR-DOF method, the DM 800 filter showed the best analytical performance having the lowest background absorbance bands and no overlapping peaks at 799, 779, and $695cm^{-1}$. 2. The variations of absorbance due to humidity ranged from 1.0% to 3.3% for $799cm^{-1}$, 1.0% to 3.3% for $779cm^{-1}$, and 8.9%~20.9% for $695cm^{-1}$ peaks, respectively. The $699cm^{-1}$ peak was proved to be most vulnerble to environmental humidity for quantitative analysis of quartz. 3. As for effects of inhomogeneous deposition of samples, the highest variation of absorbance of 10.9% ($13.5{\mu}g$) was observed when using the 695cm-1. The variations of absorbance from the other two peaks, 799 and $779cm^{-1}$, ranged from 1.2 to 3.2%, and 1.4 to 4.1%, respectively. Therefore, the $799cm^{-1}$ peak was considered to be most reliable for quantitative analysis of quartz. The results of this study suggest that, for quantitative analysis of quartz in the respirable dust samples, use of the $799cm^{-1}$ peak can minimize the influence of environmental humidity and inhomogeneous deposition of particles on the filter. The FTIR-DOF method, if adopted for routine analysis of quartz in the respirable dust samples, could save sample preparation time and efforts substantially and also could increase analytical throughputs. Since use of the $799cm^{-1}$ peak is prone to be affected by interferences in the sample, further research on minimizing the effects is needed.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.131-136
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$2$^{\circ}$to $\pm$ 0.1$^{\circ}$.

• 한국군사과학기술학회지
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• 제15권4호
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• pp.398-403
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• 2012

This paper describes about the analysis of firing rebounding force exerted on the launching system supporting structure. The measured high pressure data at the launching tube is used as external force. The maximum firing rebounding force was occurred when the snubber of inner structure contacts the surface of wall in launching tube.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.499-500
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• 2008

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1137-1142
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• 2004

Walking training is one of the most important rehabilitation processes with paralysis patient. Walking training by using an orthosis can help advancing a patient's independent level. However, existing orthoses have some serious demerit of mechanical problem that the knee joint is locked in the state where it is completely extended, which increases energy consumption and fatigue. For this reason, it is suggested, for more practical orthosis, that the knee joint should be placed and it should have capability of suspending patient's weight. In this paper, 1-DOF walking orthosis which compensates the demerit of the existing orthosis and secures patient's mobility has been proposed. New orthosis has been designed under the following two premises. First, the knee joint of the orthosis was designed fold in order for the orthosis to move in a walking pattern similar to that of a normal person. Second, the knee joint was designed to extend during the swing phase and lock safely during the stance phase.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권2호
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• pp.61-68
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• 2005

This paper is concerned with attitude control of 2 rotor 1 DOF aerial vehicle. The proposed controller consists of two parts: the attitude estimation filter part and PID controller part. For attitude estimation, performance of 3 different filters (complementary filters, Kalman filter, indirect Kalman filters) are tested and compared. For the PID controller, characteristic ratio assignment methods are used to assign PID coefficients. Through experiments, it is shown that attitude of the vehicle successfully follows the step command.

• 항공우주기술
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• 제10권1호
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• pp.89-97
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• 2011

본 논문에서는 발사체 상단의 유도 방식 선정을 위해서 Saturn 발사체의 주차 궤도 및 달 전이 궤도 투입에 성공적으로 사용된 IGM을 개선한 외연적 유도 알고리듬에 대해서 다루었다. 이 알고리듬을 주어진 발사체의 상단부인 2단 및 3단 구간에 적용할 경우에 대해서 유도 성능을 분석하였다. 3-자유도 모의시험을 통해 궤도 투입시점에서의 위치 및 속도 정밀도를 계산했으며, 개략적으로 투입지점을 계산함으로 해서 생기는 유도 알고리듬의 성능 저하를 보완하기 위한 방법을 제안하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.18-25
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• 2000

In the two-mass servo system driving a load through a flexible shaft, a shaft torsional vibration is often generated. PI controller has been generally used is speed control of such system because of the simplicity of structure and related theory. This paper presents the inertia ratio of the PI servo control system which can be designed by using optimal pole assignment method is fixed. Therefore, it's difficult to obtain the desired control characteristics for different systems only by PI control algorithm. To solve this problems the two-mass speed control system with PID controller is designed by using pole assignment method and an optimum PID parameters are derived by evaluating ITAE(Integral of time multiplied by the absolute error) performance index. But this design method has some problems due to a trade-off between the fast command following property and the attenuation of disturbances and vibrations. In this paper, 2-DOF PID control method which satisfies the command following property, the reduction of overshoot and the property of disturbance rejection at the same time is proposed. This is a practical speed controller using the desired value filter and the feedforward gain. From several simulations, it's clarified that the proposed 2-DOF PID controller is useful for the two-mass system, in comparison with the conventional PID controller.

• Wind and Structures
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• 제15권5호
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• pp.385-407
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• 2012

Bridge hanger vibrations have been reported under icy conditions. In this paper, the results from a series of static and dynamic wind tunnel tests on a circular cylinder representing a bridge hanger with simulated thin ice accretions are presented. The experiments focus on ice accretions produced for wind perpendicular to the cylinder at velocities below 30 m/s and for temperatures between $-5^{\circ}C$ and $-1^{\circ}C$. Aerodynamic drag, lift and moment coefficients are obtained from the static tests, whilst mean and fluctuating responses are obtained from the dynamic tests. The influence of varying surface roughness is also examined. The static force coefficients are used to predict parameter regions where aerodynamic instability of the iced bridge hanger might be expected to occur, through use of an adapted theoretical 3-DOF quasi-steady galloping instability model, which accounts for sectional axial rotation. A comparison between the 3-DOF model and the instabilities found through two degree-of-freedom (2-DOF) dynamic tests is presented. It is shown that, although there is good agreement between the instabilities found through use of the quasi-steady theory and the dynamic tests, discrepancies exist-indicating the possible inability of quasi-steady theory to fully predict these vibrational instabilities.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.