• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2819-2821
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

• 대한기계학회논문집A
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• 제24권4호
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• pp.946-954
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• 2000

The purposes of the paper are to calculate stresses and strains of the disk with overcoating layer rotating quickly under normal loading and shear loading by contacting with head and to present material properties preventing the delamination between the disk and overcoating layer. The hard disk is modeled as two-layered disk composed with overcoating layer and the rest layers and the loading onto the disk is assumed axisymmetric. Solutions to equilibrium equations and compatibility equations are derived with the form of polynimial and Bessel function and coefficients satisfying boundary conditions are obtained differently for the case of body force, normal force and shear force. The risk of delamination are investigated for us to calculate the differences of strains at the interface between the disk and overcoating layer and the material properties preventing delamination are presented by calculating the differences of strains according to Young's modulus and density of disk.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2004년도 학술대회지
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• pp.175-185
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• 2004

Rotating disks are used in various machines such as data storage device, gyroscope, circular saw, etc. Transverse vibration of a rotating disk is very important for the performance of these machines. This work proposes a method to suppress transverse vibration of a very flexible rotating disk in non-contacting manner. A system considered in this study is a very flexible rotating disk with a thrust bearing pad which is located underneath the rotating disk. The pressure force generated in the gap between the rotating disk and the thrust pad pushes the rotating disk in the direction of axis of rotation while the centrifugal force and the elastic recovery force push the rotating disk in reverse direction. The balance between these forces suppresses the transverse vibration of the rotating disk. A coupled disk-fluid system is analyzed numerically. The finite element method is used to compute the pressure distribution between the thrust pad and the rotating disk while the finite difference method is used to compute the transverse vibration of a rotating disk. Results show that the transverse vibration of the rotating disk can be suppressed effectively for certain combination of air bearing and operating parameters.

• Tribology and Lubricants
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• 제31권4호
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• pp.163-169
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• 2015

This paper describes a design method for the corner radius of a contacting body using the theoretical approach of contact mechanics. A complete contact, as in the case of a sharp-cornered punch, produces singular contact traction: whereas, in an incomplete contact, the singular contact traction disappears because of the rounded corners, and the contact edges are within the rounded regions. The design method aims to determine the conditions of the contact force as well as the material properties in an incomplete contact. The incomplete contact changes into the complete contact again when the contact edges exceed the rounded regions owing to either an increased contact force or the compliance of the materials. The contact length of a rounded punch is used as a parameter to derive the required conditions. As a result, a design formula is obtained, which provides a minimum allowable radius when the materials, normal contact force, and the length of a flat region of the punch are predetermined. This work consists of two parts: Part I includes a theoretical background, design method, and formula, and Part II describes the actual process with the investigation of design parameters.

• 대한치과보철학회지
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• 제33권3호
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• pp.492-516
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• 1995

This study evaluated the responses of mandibular bones of mongrel dogs to loaded hydro xylapatite(HA) and titanium plasma spray(TPS) coated endosseous dental implants, using unloaded ones as the control group. after HA and TPS coated implants were implanted, their bone reactions with vital bones have been observed with light and scanning electron microscope(SEM) at the three periods of the 4th, 12th and 20th week. These reactions have been also compared in a histomorphometric method. The elemental distribution state of implants and the interface neighboring bone tissues have been measured with the energy dispersive analysis of X-rays(EDAX). The following results were obtained ; 1. The light microscopic analysis showed osseointegration in both the control group and the occlusal force loaded group ; Its degree was shown to be higher in the long-maintained and occlusal force groups. 2. The SEM analysis showed that both groups had osseointegration, In the case of TPS-coated implants, the coated layer was divided on the bone interface. In the case of HA-coated implants, there appeared a division between the metal and coated interface. 3. In the histomorphometric analysis, the measured ratio contaction bone of TPS-coated implants was $70{\pm}19$% in the case of no occlusal force ; it was $84{\pm}13$% in the case of occlusal force. The measured ratio contacting bone of HA-coated implants was $75{\pm}18$% in the case of no occlusal force ; it was $94{\pm}9$% in the case of occlusal force. However, there was no significant difference statistically(p>0.05). 4. Both groups showed that the ratio of calcium and phosphorous increased more in the bone tissues than on the bone to implant interface.

• Transactions on Electrical and Electronic Materials
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• 제8권1호
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• pp.5-10
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• 2007

Using a reference slurry, ammonium dodecyl sulfate (ADS), an anionic and environmentally friendly surfactant, was investigated as an alternative to BTA for its inhibition and lubrication characteristics. Results demonstrated that the inhibition efficiency of ADS was superior to that of BTA. Coefficient of friction (COF) was the lowest when the slurry contained ADS. This suggested that adsorbed ADS on the surface provided lubricating action thereby reducing the wear between the contacting surfaces. Temperature results were consistent with the COF and removal rate data. ADS showed the lowest temperature rise again confirming the softening effect of the adsorbed surfactant layer and less energy dissipation due to friction. Spectral analysis of shear force showed that increasing the pad-wafer sliding velocity at constant wafer pressure shifted the high frequency spectral peaks to lower frequencies while increasing the variance of the frictional force. Addition of ADS reduced the fluctuating component of the shear force and the extent of the pre-existing stick-slip phenomena caused by the kinematics of the process and collision event between pad asperities with the wafer. By contrast, in the case of BTA, there were no such observed benefits but instead undesirable effects were seen at some polishing conditions. This work underscored the importance of real-time force spectroscopy in elucidating the adsorption, lubrication and inhibition of additives in slurries in CMP.

• Tribology and Lubricants
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• 제38권5호
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• pp.199-204
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• 2022

This paper presents a numerical investigation of the influence of water molecule thickness on frictional behavior at the nanoscale using molecular dynamics simulation. Three different models, comprising water thin films of various thicknesses, were built, and indentation and sliding simulations were performed using the models. Various normal loads were applied by indenting the Si tip on the water film for the sliding simulation to evaluate the interplay between the water thin film thickness and the normal load. The results of the simulations showed that the friction force generally increased with respect to the normal load and thickness of the water thin film. The friction coefficient varied with respect to the normal load and the water film thickness. The friction coefficient was the smallest under a moderate normal force and increased with decreasing or increasing normal loads. As the water film became thicker, the contact area between the tip and water film became larger. Under well-lubricated conditions, the friction force was proportional to the contact area regardless of the water film thickness. As the normal force increased above a critical condition, the water molecules beneath the Si tip spread out; thus, the film could not provide lubrication. Consequently, the substrate was permanently deformed by direct contact with the Si tip, while the friction force and friction coefficient significantly increased. The results suggest that a thin water film can effectively reduce friction under relatively low normal load and contact pressure conditions. In addition, the contact area between the contacting surfaces dominates the friction force.

• 전자공학회논문지SC
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• 제39권6호
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• pp.9-19
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• 2002

로봇 제어에서 로봇 핸드가 환경과 접촉하는 상황에서는 위치제어와 힘 제어를 동시에 필요로 한다. 그것을 구현하는 알고리즘 즉, 순응성 제어, 힘 제어, 하이브리드 힘/위치 제어, 임피던스 제어 등의 많은 제어기들이 발표되어 왔으나, 위치/힘 제어가 통합구조로 구성되어 있는 임피던스 제어기가 최근에 많은 연구들을 통하여 가장 효율적인 알고리즘으로 증명되고 있다. 고유 어드미턴스 제어기는 임피던스 제어기가 단순 변형된 것으로 속도 보상기와 힘 보상기로 구성되어 있으며, 로봇 핸드의 속도와 힘제어를 통합 구조로 수행한다. 어드미턴스 제어 방식은 이미 발표된 여러 논문에서 제어구조상의 장점이 확인된 바 있다. 본 논문에서는 고유 어드미턴스 제어기의 게인 파라미터 값을 시스템의 안정성을 확보하면서 결정하는 게인 튜닝 알고리즘을 설계하고, 그것을 실험용으로 제작한 1축 로봇 시스템에 적용하여 임의의 강성을 갖는 환경과의 접촉시에 발생 할 수 있는, 환경의 반작용 힘에 대해서 제어모터가 성공적으로 상호 작용하는 제어성을 실험한다. 또한, 1축 로봇 시스템에 쿨롱 마찰력을 가하여 로봇제어에 방해요소가 되는 외란의 영향에도 불구하고 고유 어드미턴스 제어기가 강인하게 대처함으로서 제어모터가 원하는 위치나 속도로 제어되는 것을 실험결과를 통하여 확인한다.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2002년도 제35회 춘계학술대회
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• pp.63-70
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• 2002

Wear on the tube-to-spring contact is investigated experimentally. The wear is caused by the vibration of the tube while the springs support it. As for the supporting conditions, applied are the contacting normal force (P) of 5 N, just-contact (P = 0 N) and the gap of 0.1 mm. The gap condition is tried far considering the influence of simultaneous impacting and sliding on wear. Results show that the wear volume increases in the order of the gap, the just-contact and the 5 N conditions. This is explained from the contact geometry of the spring, which is convex of smooth contour. The contact shear force is regarded smaller in the case of the gap existence compared with the other conditions. Wear mechanism is considered from SEM observation of the worn surface. The variation of the normal contact traction is analysed using the finite element analysis to estimate the slip displacement range on the contact with consulting the fretting map previously obtained.

• 한국운동역학회지
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• 제16권4호
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• pp.135-145
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• 2006

The aim of this study was to find out the differences of biomechanical factors from touching down the vaulting board to landing when techniques of 1/1Turn, stretched, and Tucked were performed on the old vaulting horse and on the new vaulting table. Three national representative men gymnasts were sampled for this study. Three dimension motion analyses by means of six Sony PD-150 video cameras with the velocity of 60 fps were used. As a result of analyzing the kinetic data from two kind of vaulting table, the following conclusions were made. 1. There was not significant differences of angular momentum between the old and the new vaulting table in all three techniques except the phase of stepping on the vaulting board and contacting the vaulting horse in the Tucked technique. IN the two phases above, the angular momentum in the new vaulting table was greater than that of the old vaulting horse. 2. There were few significant differences between the old and the new vaulting horses in the horizontal and vertical reaction force according to techniques when stepping was performed. However, it appeared tendency that the horizontal and vertical reaction force in the new vaulting table was a little greater than that of the old vaulting horse when the 1/1Turn, the Stretched and the Tucked were performed.