• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.423-429
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• 2015

Linear motion (LM) ball guides have good accuracy and high efficiency. They are widely applied for precision machinery such as machine tools, semiconductor fabrication machines and robots. However, friction force incurs heat between the balls and grooves. Thermal expansion due to the heat deteriorates stiffness and accuracy of the LM ball guides. For accurate estimation of stiffness and accuracy during the linear motion, friction models of LM ball guides are required. To formulate accurate frictional models of LM ball guides according to load and preload conditions, rolling and viscous frictional analyses have been performed in this paper. Contact loads between balls and grooves are derived from Hertzian contact analysis. Contact angle variation is incorporated for the precision modeling. Viscous friction model is formulated from the shear stress of lubricant and the contact area between balls and grooves. Experiments confirm validity of the developed friction model for various external load and feedrate conditions.

• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• Journal of Mechanical Science and Technology
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• v.19 no.5
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• pp.1107-1115
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• 2005

In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.

• Structural Engineering and Mechanics
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• v.38 no.5
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• pp.573-592
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• 2011

Comprehensive and accurate analysis of a finite foundation beam is a challenging engineering problem and an important subject in foundation design. One of the limitation of the traditional Winkler elastic foundation model is that the model neglects the effect of the interface resistance between the beam and the underneath foundation soil. By taking the beam-soil interface resistance into account, a deformation governing differential equation for a finite beam resting on the Winkler elastic foundation is developed. The coupling effect between vertical and horizontal displacements is also considered in the presented method. Using Galerkin method, semi-analytical solutions for vertical and horizontal displacements, axial force, shear force and bending moment of the beam under symmetric loads are presented. The influences of the interface resistance on the behavior of foundation beam are also investigated.

• Journal of the Korean Magnetics Society
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• v.21 no.5
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• pp.174-179
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• 2011

Magnetic force calculation methods such as Maxwell stress, virtual work principle, equivalent magnetic charge, and equivalent magnetizing current are widely used until now. The force density is still controversial issue even though it is common sense that all of these methods have legitimate results. The surface force densities of each method are quite different with each other in the point of numerical result and final expression. In this paper, it is shown that a unified expression of body force density is derived using virtual air-gap scheme for an analytic model in which cylindrical magnetic material with a vertical current runs through its center.

• The Journal of Advanced Prosthodontics
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• v.12 no.1
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• pp.33-37
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• 2020

PURPOSE. The purpose of this study is to evaluate the effects of type of magnet attachment and implant angulation in two implant overdenture models. MATERIALS AND METHODS. Magnet attachments used in this study were flat and dome types (MGT5515, MGT5520D, Dentium Co., Seoul, Korea). Two implants with keepers were inserted in the resin blocks at a distance of 24 mm. For the first model, the implants were parallel to the vertical and perpendicular to the horizontal; for the second model, both were angulated 5 degrees to the mesial; for the third model, both were angulated 10 degrees toward the mesial. The retentive force was measured in both vertical and lateral directions. Statistical analyses were performed using SPSS software version 22.0 (α=.05). RESULTS. The flat type magnet attachment showed the highest lateral retentive force in the 20° divergent group (P<.05) and the dome type magnet attachment showed the highest lateral retentive force in the parallel group (P<.05). The vertical and lateral retentive force of the dome type magnet attachment was greater than that of the flat type magnet attachment in every direction (P<.05). CONCLUSION. Within the limitations of this study, the dome shape magnet attachment can resist vertical and lateral retentive force more superiorly than the flat type magnet attachment, regardless of angle, in the mandibular two implant model.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.400-410
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• 2019

In this study, the numerical code for the 3D nonlinear dynamic analysis of an SLWR (Steel Lazy Wave Riser) was developed using the lumped mass line model in a FORTRAN environment. Because the lumped mass line model is an explicit method, there is no matrix operation. Thus, the numerical algorithm is simple and fast. In the lumped mass line model, the equations of motion for the riser were derived by applying the various forces acting on each node of the line. The applied forces at the node of the riser consisted of the tension, shear force due to the bending moment, gravitational force, buoyancy force, riser/ground contact force, and hydrodynamic force based on the Morison equation. Time integration was carried out using a Runge-Kutta fourth-order method, which is known to be stable and accurate. To validate the accuracy of the developed numerical code, simulations using the commercial software OrcaFlex were carried out simultaneously and compared with the results of the developed numerical code. To understand the nonlinear dynamic characteristics of an SLWR, dynamic simulations of SLWRs excited at the hang-off point and of SLWRs in regular waves were carried out. From the results of these dynamic simulations, the displacements at the maximum bending moments at important points of the design, like the hang-off point, sagging point, hogging points, and touch-down point, were observed and analyzed.

• Steel and Composite Structures
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• v.21 no.5
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• pp.1105-1119
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• 2016

In this study, it is presented that a new developed approach for equivalent area-distributed loading (EADL) induced from a single concentrated force. For the purpose, a full scale 3D steel formwork system was constructed in laboratory conditions. A developed load transmission platform was put on the formwork system and loaded step by step on the mass center. After each load increment, displacement was measured in several crictical points of the system. The developed platform which was put in to slab of formwork to equivalently distribute the load from a point to the whole slab was constituted using I profiles. A 3D finite element model of the formwork system was analyzed to compare numerical displacement results with experimental ones. In experimental tests,difference among the displacements obtained from reference numerical model (model applied EADL) and main numerical model (model applied single load using a load cell via load transmission platform) is about %13 in avarage. Difference among the displacements obtained from experimental results and main numerical model under 30 kN single load is about %11 in avarage. The results revealed that the displacements obtained experimentally and numerically are dramatically closed to each other. It is highlighted from the study that the developed approach is reliable and useful to get EDL.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.2
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• pp.176-184
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• 2014

Nowadays, consumption of fisheries products is increasing. There are several factors, one of which is a quantitative development through aquaculture. Another factor is an increase qualitative consumption of fish which require that fish be supplied alive. This requires a lot of technical effort to transport the live fish that have low survival rate (c.f. tuna and mackerel) in coastal waters and in the open sea. To develop a towing cage for transporting the live fish, model test in a circulate water channel and simulation by computer tool were carried out. In order to spread vertically, floats were attached at the upper part of the cage, and iron chains attached at the lower part of the cage. For horizontal spreading, kites were attached on the cage. The tension and spreading performance of the cage were measured. The result shows that the tension and reduction ratio of inside volume of the cage were tended to increase with increased towing speeds. The suitable operation condition in towing cage was 1.0 m/s towing speeds with vertical spreading force 8.7 kN, horizontal spreading force 5.6 kN; in this case the reduction ratio of inside volume of the cage was estimated as 25%.