• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.446-454
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• 2011

The noise of the subway has become a social issue and includes very complex reasons. The friction between rail and train wheel is the most important reason of the noise. In this study, we developed MFI(Multi Fluid Injection) System which sprays the mixed fluid(water, anticorrosive and lubricant) on the rail when the train is approaching to reduce the friction. To verify the system's effect, we measured the internal and external noise of the running train. The measured and analyzed results show that MFI system reduce the noise of the running subway.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 대한기계학회논문집
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• 제15권2호
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• pp.404-412
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• 1991

In the design of high speed machinery, designers must consider the problem of possible structural failure due to excessive dynamically varying stresses, which are induced by the varying external loads and internal inertia forces, in the links of the mechanism. A study of the dynamically induced stresses would indicate what values of the minimum permissible fatigue strength should be for safe mechanism operation. This paper investigates the nature of the stress fluctuation in high speed mechanism on the basis of the effects of both the loads and the friction. The latter is apt to be neglected in the usual analysis in spite of the fact that it is always generated in the operating machinery. The analysis is performed on the coupler of the slider-crank mechanism for illustrative purposes and the results are expressed in a non-dimensional form for design applications.

• 펄프종이기술
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• 제31권3호
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• pp.60-67
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• 1999

The CLSM and the image analysis technique enhanced observation of fiber wall fibrillation occurred in both the outer and the fiber wall surfaces during refining by non-destructive techniques. In the early stages of refining, it was well observed that a partial separation between the S1 and S2 layer in the secondary wall was made generating a space in the wet fiber walls . With further refining, it was clearly shown that the shear forces imparted by the refiner bar surfaces caused the S1 layer to become totally separated from the S2 layer as well as creating microfibrils. Furthermore, the fibrillation in the inner fiber wall surfaces could be due to the normal force (Fn) by refiner bars, friction force between a fiber and refiner bars (Fs) and inner friction force between fiber walls(fs). It was confirmed that the concept of fibrillation should be extended to fibrillation in the inner fiber wall surfaces as well as internal and external fribrillation.

• 한국정밀공학회지
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• 제22권8호
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• pp.57-63
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• 2005

Development of a locomotive mechanism fer the capsule type endoscopes will largely enhance the ability to diagnose disease of digestive organs. In connection with it, most of researches have focused on an installable locomotive mechanism in the capsule. In this paper, it is introduced that the movement of a capsule type endoscope in digestive organ can be manipulated by magnetic force produced outside human body. Since the magnetic force is provided by permanent magnets, no additional power supply to the capsule is required. Using a robotic manipulator for locating the external magnet, the capsule motion control system can cover the whole human digestive organs. This study is particularly concentrated on dither motion effect to improve the mobility of capsule type endoscope. It was experimentally found out that the friction coefficient between the capsule and digestive organ can be remarkably reduced by superposing yawing or rolling dither motion on the translatory motion. In this paper, the experimental results obtained with the direction, amplitude and frequency of sinusoidal dither motion changed is reported.

• 한국산업융합학회 논문집
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• 제18권1호
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• pp.53-60
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• 2015

For high-accuracy position control of a linear motor, it has been proposed a nonlinear controller including a synchronization algorithm. Linear motors are easily affected by force ripple, friction, and parameter variations because there is no mechanical transmission to reduce the effects of model uncertainties and external disturbances. Synchronization error is also caused by skew motion, model uncertainties, and force disturbance on each axis. Nonlinear effects such as friction and ripple force are estimated and compensated for. The synchronization algorithm is used to reduce the synchronous error of the two side pillars. The performance of the controller is evaluated by computer simulations.

• 대한조선학회지
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• 제23권1호
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• pp.13-22
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• 1986

Axisymmetric turbulent thick boundary layers on a rotating body of revolution are calculated numerically in the paper. Richardson number is introduced to the mixing length to take account of swirl effects on Reynolds stresses. Interactions of the boundary layer and the external potential flow are included by adding the displacement thickness of boundary layers on the original body. Pressure distributions on the body surface are estimated by integrating normal momentum equation across the boundary layer. A model is designed and tested in the wind tunnel. Mean velocities are measured. Through the present study, swirl effects on the thick axisymmetric boundary layer development are considerable in comparison with those of non-totating cases. Rotational motion generally increase boundary layer thickness, axial skin friction coefficients, and form drags. Circumferential flow can be reversed to induce negative skin friction when the section area is reduced.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Structural Engineering and Mechanics
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• 제12권2호
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• pp.119-134
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• 2001

This paper deals with an experimental and numerical study of a mono-strand wedge anchor head mechanism. First, the experimental program is presented and monitored data such as wedge slippage, anchor deflection and strain distributions along external peripheral surfaces of the anchor head are presented and discussed. In accordance with the experimental set up, these data concern only the global behaviour of the mechanism and cannot provide valuable information such as internal stress-strains distributions, stress concentrations and percentage of yielded volume. Therefore, the second part of this paper deals with the development of an efficient numerical finite element model capable of providing mechanism of the core information. The numerical model which includes all kinematics/material/contact non-linearities is first calibrated using experimental data. Subsequently, a numerical study of the anchorage mechanism is performed and its behaviour is compared to the behaviour of a slightly geometrically modified mechanism where the external diameter has been increased by 5 mm. Finally, different topics influencing the anchorage mechanism behaviour are addressed such as lubrication and wedge shape.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.768-773
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• 2004

Developed in this paper a mass-spring engine to represent and manipulate deformable objects. The deformable object model is a basic technology in the ‘Tangible Space Initiative’. The mass-spring model consists of structural, shear and bending springs. Various forces like external, friction, gravity, spring, and damping forces are considered and collision with planes and spheres are treated. When a sphere collide mass-spring model, mass-spring engine calculates external force to interface mass-spring model. A prototype system is implemented in C on an MS windows machine.