• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.95-103
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• 1998

This paper deals with a problem occuring in recognition of tactile images due to the effects of imposed force at a me urement moment. Tactile image of a contact surface, used for recognition of the surface type, varies depending on the forces imposed so that a false recognition may result in. This paper fuzzifies two parameters of the contour of a tactile image with the membership function formed by considering the imposed force. Two fuzzifed paramenters are fused by the average Minkowski's dist; lnce. The proposed algorithm was implemented on the multisensor system cnmposed of an optical tact le sensor and a 6 axes forceltorque sensor. By the experiments, the proposed algorithm has shown average recognition ratio greater than 869% over all imposed force ranges and object models which is about 14% enhancement comparing to the case where only the contour information is used. The pro- ~oseda lgorithm can be used for end-effectors manipulating a deformable or fragile objects or for recognition of 3D objects by implementing on multi-fingered robot hand.

• Current Research on Agriculture and Life Sciences
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• v.21
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• pp.23-29
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• 2003

Worldwide consumption of vegetable soybean bas been increasing recently, hence it is necessary to produce good quality of soybean in our farms. In the process of vegetable soybean production threshing and seperation work accounts for about 80% of overall labor. Therefore, developing of the vegetable soybean thresher is necessary to reduce the cost of labor. The purpose of this study is to acquire the basic informations to design of the vegetable soybeans-thresher. We make the experimental system which measure the physical properties and investigate the detachment forces. Also, We calculated the minimum speed of threshing cylinder. The result are as follows; 1. The average length of soybean stem is 68.2cm. 2. The length of soybean pods are seen as 61.3mm for 3 grain, 52.6mm fer 2 grains and 41.0mm fer 1 grain 3. The widths of soybean pods are seen as 14.1mm fer 3 grain, 13.8mm fer 2 grains and 13.4mm fer 1 grain. 4. The weights of soybean pods are seen as 4.1grams for 3 grains, 2.7grams for 2 grains and 1.4grams for 1 grain. 5. The average detachment forces of pods are seen as 1.5kgf for 3 grains, 1.2kgf for 2 grains and 0.8kgf for 1 grain respectively For 1 grain, the detachment force of pods ranges from 0.2kgf to 1.4kgf. For 2 grains, the minimum detachment force of pods is seen as 0.6kgf and the maximum one is seen as 2.5kgf. For 3 grains, the minimum detachment force of pods is seen as 0.7kgf and the maximum one is seen as 2.7kgf. 6. The minimum speed of threshing cylinder is shown 6.83m/s.

• Korean Journal of Materials Research
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• v.24 no.2
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• pp.98-104
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• 2014

Vacuum kinetic spray(VKS) is a relatively advanced process for fabricating thin/thick and dense ceramic coatings via submicron-sized particle impact at room temperature. However, unfortunately, the particle velocity, which is an important value for investigating the deposition mechanism, has not been clarified yet. Thus, in this research, VKS average particle velocities were derived by numerical analysis method(CFD: computational fluid dynamics) connected with an experimental approach(SCM: slit cell method). When the process gas or powder particles are accelerated by a compressive force generated by gas pressure in kinetic spraying, a tensile force generated by the vacuum in the VKS system accelerates the process gas. As a result, the gas is able to reach supersonic speed even though only 0.6MPa gas pressure is used in VKS. In addition, small size powders can be accelerated up to supersonic velocity by means of the drag-force of the low pressure process gas flow. Furthermore, in this process, the increase of gas flow makes the drag-force stronger and gas distribution more homogenized in the pipe, by which the total particle average velocity becomes higher and the difference between max. and min. particle velocity decreases. Consequently, the control of particle size and gas flow rate are important factors in making the velocity of particles high enough for successful deposition in the VKS system.

• Journal of the Korean Geotechnical Society
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• v.22 no.1
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• pp.15-23
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• 2006

During earthquake, force components acting on quay walls consist of inertia force, earth pressure and water pressure. The earth pressure is largely influenced by the backfill condition such as soil density and the installation of gravel backfill. Therefore, shaking table tests were performed by using four different model sections, which were designed by varying the soil density and the backfill materials. The magnitude and the phase of force components acting on quay wall were analyzed. Test results showed that the gravel backfill and the soil compaction were effective to reduce the excess pore pressure in backfill and the magnitude and phase of backfill thrust were much influenced by the excess pore pressure in backfill. When the input acceleration was 0.10g, the average ratios of the inertia force, the front dynamic water force and the thrust to the total force were $64\%,\;21\%\;and\;16\%$, respectively. As the excess pore pressure increased, the ratio of the thrust to the total force increased.

• Journal of Biosystems Engineering
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• v.19 no.1
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• pp.17-21
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• 1994

This reasearch was performed to provide the fundamental intonation for the mechanization of Korean pine cone harvest when the shoot shearing method is adopted. Shear force and stress of pine cone shoots were measured and analyzed for this purpose. Samples are selected along their harvesting time and tested in 17 levels of shoot diameter from 10 to 26mm with 1mm increment. 1) Shear force-deformation characteristics showed that shoot reached its rupture point after 2 to 4 of bio-yield points. It was supposed that these multiple bio-yield points were caused by the discrete compression of wood parts which are composed of water, nutrient, resin, etc. 2) Required shear force to shear shoot was proportional to the square of shoot diamter, however, shear force for shoots of early harvesting time(Aug. 31) was proportional to the shoot diameter. Variance of shear force was increased as the harvesting time was delayed. Shear forces were distributed from 468N(Aug. 31, 12mm dia) to 4153N(Aug. 31, 26mm dia) disregarding the sampling date. 3) The average shear stresses by sampling dates were 744,822, and 883N/m2, respectively, and for the earlier shoot samples shear stress was quite smaller than the others. Shear stress was proportional to shoot diameter squared, and the effect of shoot diameter on the shear stress was decreased as harvesting time was delayed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.11
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• pp.1063-1071
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• 2008

A piezoceramic unimoph actuator can produce a relatively larger actuation force and actuation displacement when a proper compressive load is applied during operation, because the compressive stress causes material nonlinear behavior in the piezoceramic layer and triggers mechanical buckling. In this paper, we examined effects of the actuator under compression on the flapping angle and aerodynamic force generation capability. Effects of wing shape and passive wing rotation angle on the aerodynamic force production were also investigated. The average vertical force acquired by a 2D CFD simulation for an artificial wing showed a good agreement with the measured one by the experiment.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1801-1812
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• 2006

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, pushrod force as the end control parameter, and an antilock sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. Simulation results indicate that the velocity and spacing errors were slightly larger than the results that without considering wheel slip effect, the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and the limit for the antilock control on non-constant adhesion road condition was determined by the minimum of the equivalent adhesion coefficient.

• Journal of Technology Innovation
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• v.16 no.2
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• pp.201-223
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• 2008

This paper studies the supply and demand of Industrial Technology Labor-force(ITL) and analyzes the determinate of ITL shortage in Korean manufacturing. We classified the industry into four categories-high technology industries, medium-high technology industries, medium-low technology industries and low technology industries-based on its R&D intensity like OECD. For the empirical analyses we use a survey data collected from 5,703 enterprises. The key findings are as follows: Firstly, a large majority of ITL is engaged in more technology-intensive industries but the categories that are exposed to more serious labor-force shortage problem are medium-high technology industries and low technology industries. Secondly, in the terms of supply factor, the ITL shortage problems are mainly due to the avoidance of ITL jobs. And the demand point, the reason is that the most of ITL are not researchers but production managers. Thirdly, the cause of imbalance between supply and demand of ITL are different by the technological categories. For example, in the high technology industries, the supply factors, such as average wage and turnover rate played more important role in the imbalance. But in the low technology industries the demand factors, such as per capita sales and the ratio of ITL in all employees were relatively much more important. Based on the findings, we discovered some political meanings such as the necessity to plan various policies to resolve the shortage problem of ITL according to the technological categories, etc.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.274-283
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• 2011

A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.188-193
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• 1996

This study was performed the blankholding force and vee-ring effects on Blanking characteristics, such as maximum blanking force, burnish, dish-shape, hardness. etc, in fine-blanking die by the experimental method. Two types of aluminum (Al. 1050-0, Al 5052-H) Such as annealed and unannealed materials were used for the experiment. In order to get a hydrostatic pressure effect, the clearance was set to 0.5% of the thickness of strip, and the counter punch and stripper plate with Vee-ring was set-up. While this experiment was carrying out, the average blanking Velocity was constant (37.5mm/sec) As a result of this study, we got a good surface roughness and a glassy shear plane(burnish) of the sheet over 90% thickness, and such as the excellent accuracy of dimensions, the good squareness and the reduction of dish-shape could be obtained, and also the additional results obtained were such that the hardness of shear plane was increased and the maximum blanking force was reduced in the condition of Vee-ring height of 1.0~1.5mm, and blankholding force of 1200kg.