• 한국자동차공학회논문집
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• 제13권1호
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• pp.126-131
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• 2005

This paper presents experimental results by using the machinery fault simulator which is monitoring its conditions with an acceleration signal. Components of the machinery, for example, motor, belt pulley, belt, bearing, and gear, with artificial defects were used for the experiment.

• 로봇학회논문지
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• 제15권1호
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.

• Journal of Acupuncture Research
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• 제32권1호
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• pp.141-147
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• 2015

Objectives : The purpose of this study was to report a case of patient with trigger thumb which improved by Meridian Tendino-musculature Acupuncture therapy, Moxubustion and Bee-Venom pharmacoacupuncture. Methods : In this study, we have conducted Meridian Tendi-musculature Acupuncture therapy, Bee-Venom Pharmacopuncture and Moxibustion treatment, on the basis of anatomical structure on the patient who was diagnosed of trigger thumb with pain, edema and motional restriction of the thumb. Furthermore, Electroacupuncture had been implemented with acupuncture therapy, and also passive exercise therapy had been conducted before and after the treatment to enhance the effect. The patient was assessed for trigger thumb-related symptoms by Visual Analogue Scale (VAS) score and Quinnell's Classification of triggering. Results : Quinnell's triggering grade & VAS score had decreased considerably after 18 sessions of treatment. Conclusions : It can be deducted that symptoms of Trigger thumb could be improved by Meridian Tendino-musculature Acupuncture therapy, Moxibustion and Bee Venom Pharmacopuncture treatment.

• 대한치과교정학회지
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• 제29권2호
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• pp.165-181
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• 1999

교정치료시 치아와 주위조직의 부작용을 최소로 하면서 최대의 치료결과를 얻기 위해서는 치료역학을 각 환자의 치아 및 주위 해부학적 환경에 맞도록 개인화 시켜야한다. 특히 성인 교정시 문제되기 쉬운 치근흡수 또는 치주질환으로 인한 치조골 손실로 인하여 치관/치근 비율이 변했을 때 치아의 저항중심위치의 변화와 관련된 생역학적 반응의 차이에 주의하여야 한다. 본 연구에서는 정상 치주조직뿐만 아니라 다양한 비정상적 치주 및 치아상태에서 치관/치근 비율이 변하였을 때 일정한 교정력하에서의 치아의 초기이동 양상을 연구하기 위하여, 성인의 인체 건조 두개골 및 하악골상에서 laser 반사측정법 및 lever and pulley force applicator와 photodetector를 이용하여, 상악 6전치군을 대상으로는 치조골높이를 각각의 치아에 대하여 2mm씩 총 8mm까지 감소시켰고, 하악 6전치군을 대상으로는 치근길이를 각각의 치아에 대하여 2mm씩 총6mm까지 감소시키면서, 이렇게 다양하게 정량화된 변수들 하에서 상하악6전치군의 저항중심의 위치변화를 연구한 결과 다음과 같은 결론을 얻었다. 1. 초기상태에서 상악 6전치군의 초기이동시의 저항중심점의 위치는 6전치 전체 평균치아 치근의 치경부(CEJ)로부터 치근첨 방향으로 약 $42.4\%$되는 위치에 있었으며, 각 치아의 치조골의 높이가 감소할수록 저항중심점은 치근첨방향으로 약 $76.7\%$되는 부위까지 이동하였다. 2. 상악 6전치군에서 저항중심점의 6전치 전체 평균 치조정으로부터의 거리는 치조골의 감소와 함께 지속적으로 감소하였으나, 치조골내의 평균 치근의 길이에 대한 비율은 치조골의 감소에 상관없이 약 $33\%$내외에서 비교적 일정하였다. 3. 초기상태에서 하악 6전치군의 초기이동시의 저항중심점의 위치는 6전치 전체 평균치아 치근의 CEJ로부터 치근첨방향으로 약 $43\%$되는 위치에 있었으며, 각 치아의 치근의 길이가 감소할수록 이 비율은 약 $54\%$까지 증가하였다. 그러나 CEJ로부터 저항중심점까지의 거리는 5.3mm전후로부터 3.3mm내외까지 감소하여 치근의 길이가 감소할수록 저항중심점이 CEJ방향으로 이동하였다. 4.치조골 또는 치근흡수시, 각각의 단위 흡수량에 따른 저항중심위치의 변화에 미치는 영향은 초기에는 치조골이 감소 될 때가 더 컸으나 전체 평균 치근길이의 중간부위에서의 영향은 비슷했다.

• 센서학회지
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• 제26권5호
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• pp.353-359
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• 2017

This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walking assist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensor is used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(Finite Element Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried out respectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability error and the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.

• 한국유체기계학회 논문집
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• 제18권3호
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• pp.26-32
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• 2015

The authors are developing a motion of floater body type wave energy converter of the float-counterweight system. This consists of the driving pulley, wire, float and counterweight suspended from idler pulleys and rachet mechanism. Though it has succeeded in solving the major structural strength problem in which the floats would slam against adjacent structure(s) by wave load acting horizontally. In order to overcome this problem. We propose a new system in which the wire transmitting the power is wound around the pulleys and the float receiving the wave power is pulled by the wire from both its upper and lower ends to avoid the occurrence of slackening during the wave cycle. In the paper, we developed the dynamics model for the proposed system. Energy gain has been calculated for realistic wave conditions and compared with the original float-counterweight device. The important differences from the float-counterweight system are that (1) both upward and downward motions of water surface can be utilized without problem. (2) slackening of energy gain and wire tension are effectively suppressed, and (4) for the same time averaged energy gain, the maximum wire tension is fairly lowered.

• 대한기계학회논문집A
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• 제37권1호
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• pp.55-60
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• 2013

컴파운더 보우는 리커브 보우와 비교하여 케이블 및 캠 풀리로 구성되는 지레시스템을 사용하여, 궁사가 보우를 최대 위치로 당기기 위해 필요로 하는 힘을 줄이는 동시에 더 많은 에너지를 축적할 수 있도록 해준다. 지금까지 컴파운더 보우의 효율 및 성능을 향상시키기 위해 경험적인 방법에 기초하여 많은 특허가 제안되었지만, 해석적인 방법에 대한 연구는 별로 없었다. 그러므로 본 연구에서는 컴파운더 보우 지레 시스템의 기구학적인 해석을 위한 방법을 제안하여 지레시스템의 캠 형상 및 보우 날개의 재질변화에 따른 효과를 설계자가 쉽게 예측할 수 있도록 하고자 한다.

• 한국기계가공학회지
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• 제21권8호
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• pp.9-18
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• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• 풍력에너지저널
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• 제15권1호
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• pp.91-102
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• 2024

Rapid progress is being made in foundational technology research and engineering for the construction of floating offshore wind farms. There is active development of technology for detachable mooring systems, which have strengths in addressing maintenance issues that arise in floating offshore wind farms and enhance their economic viability. Conventional detachable mooring systems use Kenter links inserted into the middle of mooring chains, which require excessive time for retrieval by Anchor Handling Tug Supply (AHTS) vessels during detachment operations. Moreover, these operations pose risks of link damage and accidents. Therefore, there is a demand for the development of a new concept of detachable mooring systems. The proposed detachable mooring system in this study simultaneously integrates a fairlead chain stoppers (FCS) and submersible mooring pulleys (SMP), which enables all operations to be conducted on the AHTS vessel without underwater tasks. This study detailed the design and safety evaluation of the SMP, a core component of the detachable mooring system, based on the minimum breaking load (MBL) of selected mooring lines according to the capacity of the floating platform. It referenced international codes (AISC Specification for Structural Steel Buildings D5, Pin-Connected Members) for design verification and performed finite element analysis to evaluate the strength of major components in installation and operation scenarios. Additionally, procedures and techniques for evaluating the structural strength of components under uncertain boundary conditions were proposed.

• 한국초등과학교육학회지:초등과학교육
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• 제18권2호
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• pp.21-33
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• 1999

The purpose of this study was to develop an Instrument for the Measurement of Cognitive Conflict Levels of students who confronted with an anomalous situation in science teaming. Anomalous situation is generated when students' prediction is disconsistent with the observed fact. In this study, the researchers identified 4 components of cognitive conflict and developed three items for each component. The items were developed and revised by four pilot tests. In the first pilot test, 55 elementary school students participated in the test In the second pilot test, 88 students of the 5th and 6th grader participated in the test. The instrument of measuring cognitive conflict levels was given to the subjects right after demonstrating anomalous situation. For the demonstration, two different problem situations were developed: one was a pulley problem and the other was electric bulbs in parallel. Answered reasons for each items were analyzed to assess students' understanding on each items. In third pilot test, 125 elementary school students participated in the test. A factor analysis of the responses was carried out and reliability of the test was assessed by calculating internal consistency values. The items were finalized by three pilot tests. After 1 month after the third pilot test, researchers conducted the finalized test items to 323 students of the 5th and 6th grader. The final instrument showed moderate reliability (Cronbach-α 0.82∼0.87) and good content validity(0.93). A factor analysis of the response was carried out. 4 main factors completely coincided with 4 components that we supposed to be the conducts of cognitive conflict. The instrument can provide a means for both teachers and researchers to assess the cognitive conflict of a large number of students within a single class period. The results can be used by teachers to better understand the process of conceptual change of their students and to match instruction and materials accordingly.