• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.363-375
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• 2002

The effect of the electromagnetic force (or Lorentz force) on the flow behavior around a circular cylinder is investigated by computation. Two-dimensional unsteady flow computation for Re=10$^2$is carried out using a numerical method of finite difference approximation in a curvilinear body-fitted coordinate system by solving the momentum equations including the Lorentz force as a body force. The effect of spatial variations of the Lorentz forcing region and forcing direction along the cylinder circumference is investigated. The numerical results show that the Lorentz force can effectively suppress the flow separation and oscillation of the lift force of circular cylinder cross-flow, leading to reduction of drag.

• Proceedings of the Korea Concrete Institute Conference
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• 2000.04a
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• pp.417-422
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• 2000

In prestressed concrete structures, determining serviceability and safety it is important to exactly calculate effective prestress force acting on structures. for the determination of effective prestress force, friction loss of the prestressing tendon should be decided exactly, but it is very difficult to measure the exact prestress force on the site and there is no actual field data. Therefore the friction loss coefficient recommended by the specification is not verified. in this paper, the friction loss standard PSC-Beam will be investigated, and is will be found what kind of relationship between the specification and the site. The results from this study can be summarized as follows. For jacking at both ends, actual intial prestress force in the center section of PCS-Beam was about 1.61% larger than theoretical initial prestress force and for hacking at one end, actual initial prestress force was approximate 4.9% lower than theoretical initial prestress force. Thus, for the exact calculation of friction loss, friction coefficient should be modified according to jacking methods.

• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.09a
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• pp.74-74
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• 2005

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.3
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• pp.116-126
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• 2010

The Korean rolling stock safety regulation stipulates that the collision deceleration of a car body should be maintained under average 5g and maximum 7.5g during train collisions. One-dimensional dynamic model of a full rake train, which is made up of nonlinear springs/bars-dampers-masses, is often used to estimate the collision decelerations of car bodies in a basic design stage. By the way, the previous studies have often used some average force-deformation curve for energy absorbing structures in rolling stock. Through this study, we intended to analyse how much the collision deceleration levels are influenced by the initial peak force modeling in the one-dimensional force-deformation curve. The numerical results of the one-dimensional dynamic model for the Korean High-Speed Train show that the initial peak force modeling gives significant effect on the collision deceleration levels. Therefore the peak force modeling of the force-deformation curve should be considered in one-dimensional dynamic model of a full rake train to evaluate the article 16 of the domestic rolling stock safety regulations.

• Journal of Magnetics
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• v.3 no.2
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• pp.55-63
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• 1998

Magnetic and magnetostrictive properties of amorphous Sm-Fe and Sm-Fe-B thin films are systematically investigated over a wide composition range from 14.1 to 71.7 at.% Sm. The films were fabricated by rf magnetron sputtering using a composite target composed of an Fe (or Fe-B) plate and Sm chips. The amount of B added ranges from 0.3 to 0.8 at. %. The microstructure, examined by X-ray diffraction, mainly consists of an amorphous phase in the intermediate Sm content range from 20 to 45 at.%. Together with an amorphous phase, crystalline phases of Fe and Sm also exist at low and high ends of the Sm content, respectively. Well-developed in-plane anisotropy is formed over the whole compositionrange, except for the low Sm content below 15 at.% and the high Sm content above 55 at %. As the Sm content increases, the saturation magnetization decreases linearly and the coercive force tends to increase, with the exception of the low Sm content where very large magnitudes of the saturation magnetization and the coercive force are observed due to the existence of the crystalline $\alpha$-Fe phase. The coercive force is affected rather substantially by the B addition, resulting in lower values of the coercive force in the practically important Sm content range of 30 to 40 at.%. Good magnetic softness indicated by well-developed in-plane anisotropy, a square-shaped hysteresis loop and a low magnitude of the coercive force results in good magnetostrictive characteristics in both Sm-Fe-B thin films. The magnetostrictive characteristics, particularly at low magnetic fields, are further improved by the addition of B; for example, at a magnetic field of 100 Oe, the magnitude of magnetostriction is -350 ppm in a Sm-Fe thin film and it is -470 ppm in a B containing Sm-Fe thin film.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Korean journal of food and cookery science
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• v.33 no.1
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• pp.20-27
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• 2017

Purpose: The objective of this study was to examine the effects of pork liver levels on the quality characteristics of hamburger patties. Methods: The effects of the addition of livers concentrations from 0% to 20% were investigated based on chemical composition, cooking characteristics, physicochemical properties, shear force, and sensory characteristics of hamburger patties. Results: The increasing pork liver levels from 0% to 20% resulted in increased moisture content, ash content, redness, reduction in diameter, and reduction in thickness of hamburger patties, but decreased the fat content, lightness, cooking yield, shear force and water holding capacity of hamburger patties. The protein content of hamburger patties with different amounts of pork liver showed no significant differences. The hamburger patties with increasing pork liver levels had lower color, flavor, juiciness, and overall acceptability scores, but the overall acceptability of control showed similar trends to T1 (treatments with 5% pork liver). Conclusion: Pork liver in the formulation showed similar quality characteristics as compared to control hamburger patties without liver, with best results obtained on adding up to 5% pork liver.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.