• 대한전기학회논문지:시스템및제어부문D
• /
• 제50권9호
• /
• pp.423-429
• /
• 2001

This paper proposes adaptive impedance control algorithm using fuzzy inference when robot contacts with its environments. The characteristics of the adaptive impedance controller is to adapt with parametric uncertainty and nonlinear conditions. The control algorithm is to join impedance controller with fuzzy inference engine. The proposed control method overcomes the problem of impedance controller using gain-tuning algorithm of fuzzy inference engine. We implemented an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the adaptive fuzzy impedance controller to one-link root system, and it shows the good performance on regulating the interactive force in case of contacting with arbitrary environment.

• 한국표면공학회지
• /
• 제53권5호
• /
• pp.265-270
• /
• 2020

We investigated mechanochemical radical, which is concomitant with chemical lift-off lithography(CLL), on the self-assembled monolayer(SAM)/electrodes and a polydimethylsiloxane(PDMS) using a colorimetric and a spectroscopic method. The 11-mercaptoundecanol(MUO)/Au or the 11-hydroxyundecylphosphonic acid (HUPA)/ITO were contacted with bare or activated PDMS. After contact, the each of SAM/substrates and the PDMS were immersed in a 2,2 Diphenyl-1-picrylhydrazyl(DPPH) radical scavenger. The color of the DPPH exposed to the PDMS was changed from purple to yellow and the absorbance decreased definitely at 515 nm wavelength. The SAM/substrates, however, have caused small changes in spectroscopic property, indicating no existence of radical species. We concluded that mechanochemical radicals were formed by homolytic cleavage of PDMS molecules upon external force and hardly transferred on the SAM/substrates.

• Advances in concrete construction
• /
• 제15권4호
• /
• pp.287-301
• /
• 2023

Hockey games attracts many fans around the world. This game requires a specific type of ball and a stick for controlling the motion and trace of the ball. This control of motion involves hitting the ball which is a direct intensive dynamic loading. The impact load transferred directly to the hand of the player and in the professional player may cause long term medical problems. Therefore, dynamic motion of the stick should be understood. In the current study, we analyze the dynamic motion of a hockey stick under impact loading from a hockey ball. In doing so, the stick geometry is simplified as a beam structure and quasi-2D relations of displacement is applied along with classical linear elasticity theory for isotropic materials. The governing equations and natural boundary condition are extracted using Hamilton's principle. The final equations in terms of displacement components are solved using Galerkin's numerical method. The results are presented using indentation and contact force values for variations of different parameters.

• 한국운동역학회지
• /
• 제20권4호
• /
• pp.469-477
• /
• 2010

The purpose of this study was to evaluate the effects of insole-equipped ankle-foot-orthoses (AFO) on gait. 10 healthy males who had no history of injury in the lower extremity participated in this study as the subjects. The foot of each subject was first scanned, and the insole fit to the plantar was made using BDI-PCO(Pedcad Gmbh, Germany). The subject then was made to walk on a treadmill under four experimental conditions: 1) normal walking, 2) walking wearing AFO, 3) walking wearing AFO equipped with the insole, 4) walking wearing pneumatic-ankle-foot-orthosis (pAFO) equipped with the insole. During walking, foot pressure data such as maximum force, contacting area, peak pressure, and mean pressure was collected using Pedar-X system (Novel Gmbh, Germany) and EMG activity of lower limb muscles such as gastrocnemius medial head, gastrocnemius lateral head, and soleus was recorded using MP150 EMG module (BIOPAC System Inc., USA). Collected data was then analyzed using paired t-test in order to investigate the effects of the insole. As a result of the analysis, when insole was equipped, overall contacting area was increased while both the highest peak pressure and the mean pressure were significantly decreased, and EMG activity of the lower limb muscles was decreased. On the contrary, the cases of wearing AFO showed the decreased contacting area and the increased pressures. Therefore, the AFO equipped with a proper insole fit well to the foot can help comfortable walking by spreading the pressure over the entire plantar.

• 한국자동차공학회논문집
• /
• 제22권3호
• /
• pp.33-41
• /
• 2014

Fretting is a kind of surface degradation mechanism observed in mechanical components and structures. When two pieces of materials, pressed together by an external static load, are subjected to a transverse cyclic loading or various vibrations, so that one contacting face is relatively displaced cyclically parallel to the other face, wear of the mating surfaces occurs. These fretting damages may be observed in electrical connectors for automotive components, where there are special environments and various vibration conditions. This study aims to evaluate the usefulness of fretting test equipment that was developed for reliability test of electrical connector. Fretting tests were carried out using tin coated connectors and friction force, contact resistance, contact area and roughness of contact region were investigated. The following results that will be helpful to understand the fretting wear mechanism, increase process the contact resistance and contact area were obtained. (1) In the same frequency and slip amplitude, the friction force, roughness and contact area increased rapidly until about $10^3$ cycles, after which it was slightly changed. (2) In the various frequency and slip amplitude, the contact area increased with slip amplitude and cyclic numbers, but it did not depend on cyclic frequency. (3) The surface roughness of contact region did not depend on the cyclic frequency. From these results, the applicability of the fretting wear test equipment and reliability of connector were discussed.

• 한국운동역학회지
• /
• 제21권4호
• /
• pp.487-494
• /
• 2011

The purpose of this study was to evaluate the effects of metatarsal pad (MP) compared with barefoot and MP with using different insoles on gait. 15 healthy females who had no history of injury in the lower extremity with an average age of 22.7 year(SD=1.35), height of 160 cm(SD=3.4), weight of 48.8 kg(SD=5.52) and average foot size of 232.5 mm(SD=6.8) participated in this study as the subjects. The subjects walked on a treadmill under four different experimental conditions: 1) walking with barefoot, 2) walking wearing MP 3) walking wearing a soft insole with MP(SIMP), 4) walking wearing a rigid insole with MP(HIMP). During walking, foot pressure data such as force, contacting area, peak pressure, and mean pressure was collected using Pedar-X System(Novel Gmbh, Germany) and EMG activity of lower limb muscles such as tibialis anterior(TA), lateral gastrocnemius(LG), rectus femoris(RF), and musculus biceps femoris(MBF) was gathered using Delsys EMG Work System(Delsys, USA). Collected data was then analyzed using paired t-test in order to investigate the effects of each of experimental conditions. As a result of the analysis, when MP and HIMP were equipped, overall contacting area was increased while the force, peak pressure and the mean pressure were decreased. Especially, when the SIMP was equipped, every data were significantly decreased. In case of EMG, wearing MP, SIMP and HIMP made three muscles(TA, LG, RF)'s activity decrease. A result of the analysis will be able to apply for manufacturing functional shoes, diabetes shoes, senior shoes and lower extremity orthosis. Significance of the study due to a metatarsal pad and the insole is to analyze the changes in muscle strength.

• 대한토목학회논문집
• /
• 제35권2호
• /
• pp.481-491
• /
• 2015

콘크리트 표면에 발생된 균열은 구조물의 수명에 영향을 미치는 주요원인으로 작용하기 때문에 주기적인 검사와 유지관리가 필요하다. 콘크리트 표면 유지관리를 위한 실링작업은 표면에 발생된 균열을 초기에 보수하는 방법으로 시간 경과에 따른 균열의 추가생성 및 확산을 방지하는데 효과적이다. 하지만, 교량 하부의 실링작업은 열악한 작업환경으로 인하여 작업자들의 안전성 확보에 문제가 있다. 이런 이유로, 콘크리트 구조물의 유지관리를 위한 실링자동화의 필요성이 부각되고 있다. 본 논문은 콘크리트 교량 하부에 발생된 균열의 실링작업에 로봇을 적용하기 위한 두 가지 제어방법에 대하여 제안한다. 하나는, 균열의 궤적을 자동으로 추적하는 방법이다. 로봇은 카메라로부터 취득되는 영상정보로 균열의 궤적을 파악하는데, 이전 시점의 궤적 정보를 통하여 다음 이동할 시점의 정보를 유추할 수 있다면, 실시간으로 변동되는 궤적 정보에 대응이 가능하면서 자동으로 균열을 추적할 수 있다. 다른 하나는 접촉면에 일정한 힘을 유지하여 실링하는 방법이다. 장기간 외부 환경에 노출된 거친 표면에서도 로봇이 일정한 접촉력을 유지하며 실링작업을 수행한다면, 균등한 완성도를 유지할 수 있다. 이러한 균일한 힘의 유지를 위하여 임피던스를 이용한 힘 제어 기법을 제안한다. 본 논문에서는 실링 로봇에 적용하기 위하여 개발한 두 가지 제어기법들을 소개하고, 그것을 적용한 Lab Test와 Field Test를 수행한다. 이 시험결과를 토대로 로봇의 현장적용에 대한 의견을 제시한다.

• 한국윤활학회:학술대회논문집
• /
• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
• /
• pp.425-426
• /
• 2002

Lineal and angular movements of many engine components make the lubricant absorb air and the aerated lubricant greatly influences the clearance performance of contacting behaviors of engine components such as big-end bearing, cam and tappet, etc. This study investigates the behaviors of aerated lubricant in the gap between con-rod bearing and proceeding which is one of the most frictional energy consuming components in the engine. Our assumption for the analysis of aerated lubricant film is that the film formation is influenced by the two major factors. One is the density characteristics of the lubricant due to the volume change of lubricant by absorbing the bubbles and the other is the viscosity characteristics of the lubricant due to the surface tension of the bubble in the lubricant. In our investigation, it is found that these two major factors surprisingly increase the load capacity in certain ranges of bubble sizes and densities. Frictional forces are also influenced by the aerated bubble size and density, which eventually enlarge the shear resistance due the surface tension, Modified Reynolds' equation is developed for the computation of fluid film pressure with the effects of aeration ratio under the dynamic loading condition. From the calculated load capacity by solving modified Reynolds' equation, proceeding locus is computed with Mobility method at each time step.

• 한국전산구조공학회논문집
• /
• 제12권3호
• /
• pp.363-370
• /
• 1999

본 연구에서는 철근콘크리트기둥과 철골보로 이루어진 혼합구조 접합부의 해석에 대한 유한 유소법을 이용한 해석 모델 방법을 제시하였다. 혼합구조 접합부에서 콘크리트와 강판이 접하는 접촉면은 두 접촉면 사이를 부착과 마찰의 개념으로 표현할 수 있는 주-종속 접촉 알고리즘(master-slave contact algorithm)을 이용하여 모델링하였다. 그리고, 휨응력의 지배를 받는 강관에는 비적합 모드 요소를 사용하였다. 본 연구에서의 혼합구조 특징은 보에서 기둥으로 힘의 전달을 원활히 하기 위하여 다이아프램이 사용되었고, 이러한 혼합구조 접합부 모델링 방법에 대한 타당성을 알아보기 위하여 3차원 비선형 해석을 행하여 실험결과와 비교한 결과 잘 일치하는 결과를 얻었다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회A
• /
• pp.1167-1172
• /
• 2007

Generally inpipe robot needs force above standing for contacting robot to pipe. If the environment of the pipe-inside does not change, there is not a problem. But if the pipe radius change, or occur the obstacle which it does not intend, problem gets. So it uses a different system and must know an environment change, and changing the shape or a form of the robot. The research uses the flexible leg and is the robot which is adapted to the environment change of the pipe. The advantage of this robot is possible to move when it does not need to recognize a change of environment of pipe. Leg is bend with one direction. When it moves part that there are legs effect of leg direction the robot is moved with only one direction. If friction between legs and pipe is sufficient, not only verticality pipe moving, but also curved pipe moving. Also the obstacle of the pipe inside occurs and the diameter of the pipe inside changes, this robot can move if it does not use another system or device.