• Tribology and Lubricants
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• 제18권1호
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• pp.1-8
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• 2002

Nano adhesion and friction between a $Si_{3}N_{4}$ AFM(atomic force microscope) tip and thin silver films were experimentally studied. Tests were performed to measure the nano adhesion and friction in both AFM and LFM(lateral force microscope) modes in various range of normal loads. Thin silver films deposited by IBAD (ion beam assisted deposition) on Si-wafer (100) and other Si-wafers of different surface roughness were used. Results showed that nano adhesion and friction decreased with the surface roughness. When the Si surfaces were coated by pure silver, the adhesion and friction decreased. But the adhesion and friction were not affected by the thickness of IBAD silver coating. As the normal force increased, the adhesion forces of bare Si-wafer and IBAD silver coating film remained constant, but the friction forces increased linearly. Test results suggested that the friction was mainly governed by the adhesion as long as the load was low.

• 한국컴퓨터그래픽스학회논문지
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• 제1권2호
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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.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 봄 학술발표회 논문집
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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.

• 로봇학회논문지
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• 제15권4호
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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.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• 한국정밀공학회지
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• 제14권4호
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• pp.78-87
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• 1997

In machine tools, frictional force exists between the table and the guideways, and in ballscrews. In this paper, feed motor current measured by a hall sensor is used to calculate the motor torque. Some frictional phenomena are studied in feed drive systems, such as the relationship between feedrate and frictional torque, and chip cover effects on frictional torque. Considering frictional phenomena, the relation- ship between the feed froce and the feed motor current id obtained. Feed force can be well estimated by feed motor current measurement considering frictional behavior. The relationship between the cutting force and the feed motor current is slightly different between up milling and down milling due to the effect of y direc- tional cutting force on frictional torque.

• 한국자동차공학회논문집
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• 제18권3호
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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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• 제3권2호
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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.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2005년도 학술발표회(1)
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• pp.74-74
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• 2005

• 한국식품조리과학회지
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• 제33권1호
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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.