• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.19 no.4
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• pp.491-501
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• 2021

This paper aims to evaluate the mechanical integrity for Spent Nuclear Fuel (SNF) cladding under lateral loads during transportation. The evaluation process requires a conservative consideration of the degradation conditions of SNF cladding, especially the hydride effect, which reduces the ductility of the cladding. The dynamic forces occurring during the drop event are pinch force, axial force and bending moment. Among those forces, axial force and bending moment can induce transverse tearing of cladding. Our assessment of 14 × 14 PWR SNF was performed using finite element analysis considering SNF characteristics. We also considered the probabilistic procedures with a Monte Carlo method and a reliability evaluation. The evaluation results revealed that there was no probability of damage under normal conditions, and that under accident conditions the probability was small for transverse failure mode.

• Journal of Drive and Control
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• v.18 no.4
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• pp.77-83
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• 2021

With the progress in virtual reality technology, various virtual objects can be displayed using head-mounted displays (HMD). However, force feedback sensations such as pushing against a virtual object are not possible with an HMD only. Focusing on force feedback, desktop-type devices are generally used, but the user cannot move in a virtual space because such devices are fixed on a desk. With a wearable force feedback device, users can move around while experiencing force feedback. Therefore, the authors have developed a wearable force feedback device using a magnetorheological fluid clutch and pneumatic rubber artificial muscle, aiming at presenting the elasticity, friction, and viscosity of an object. To date, we have developed a wearable four-degree-of-freedom (4-DOF) force feedback device and have quantitatively evaluated that it can present commanded elastic, frictional, and viscous forces to the end effector. However, sensory evaluation with a human has not been performed. In this paper, therefore, we conduct a sensory evaluation of the proposed method. In the experiment, frictional and viscous forces are rendered in a virtual space using a 4-DOF force feedback device. Subjects are asked to answer questions on a 1- to 7-point scale, from 1 (not at all) to 4 (neither) to 7 (strongly). The Wilcoxon signed rank test was used for all data, and answer 4 (neither) was used as compared standard data. The experimental results confirmed that the user could feel the presence or absence of viscous and frictional forces. However, the magnitude of those forces was not sensed correctly.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.286-289
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• 1997

In the design of structure the forces acting on the structure are important parameter for noise and vibration control. However, in the complex structure, the forces at the injection pomt on the structure cannot be measured directly. Thus it is necessary to find out indirect force evaluation method. In thls paper forces have been measured with in-situ vibration responses and system information. Three existing techniques of indirect force measurement, viz. direct inverse, principal component analysis and regularization have been compared. It has been shown that multi-vibration responses are essential for the precise estimation of the forces. To satisfy those cond~tions, Rotary compressor is adopted as test sample, because it is very difficult to measurc the injection forces from internal excitat~on to shell. It has also been obtained that relatively higher force IS transmitted through three welding paths to the compressor shell. It shows a good agreement between direct and indirect force evaluation wlth curvature shell and plate and is investigated the possibility of force evaluation of rotary compressor as a complex structure.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.11-18
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• 1999

Recently high speed machining is being studied actively to reduce machining time and to improve machining precision. To perform efficient high speed machining, evaluation of high speed machinability must be studied preferentially and it can be identified by investigation of cutting force. To measure cutting forces in high speed machining, dynamometer which has high natural frequency was newly designed using 3-axes piezo force sensor. For newly designed dynamometer, calibration is conducted with sensitivity of force sensor modulated and proper preload and interference force are investigated experimently. Also, cutting force signals of newly designed dynamometer are compared with those of conventional one in high speed cutting experiment and its superiority is confirmed. Then using newly designed dynamometer, high speed machinability is evaluated about cutting force and tool wear in various cutting conditions.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.

• Journal of Sensor Science and Technology
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• v.15 no.6
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• pp.449-456
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• 2006

The purpose of urodynamic investigation is to obtain the information on the function of the urinary system. The aim of this study is to acquire the useful information of lower urinary tract symptom (LUTS) diagnosis through void force signal as noninvasive method. The system which could evaluate the function of compensatory hypertrophy with noninvasive and comfortable method was implemented to measure uroflow and void force during urination. The implemented system composes of the sensor parts, signal conditioning parts and PC monitoring program. For the evaluation of the implemented system, the simulation of control part of the system was performed and the model system for the lower urinary system was designed. The superiority of a measuring characteristic of the implemented system was verified using the model system. From the evaluation of the model system, we have found out that the void force was dependent on the occlusion degree and compensatory hypertrophy significantly.

• Proceedings of the Safety Management and Science Conference
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• 2002.05a
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• pp.31-36
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• 2002

In this paper, we developed a working adaptation evaluation system using finger force measurement which interact between material and biological system. The system consists of a finger force transducer, a signal conditioner, an A/D converter, a computer, and a software system for data processing. The finger force transducer is made by a load cell and a special mechanism. The data processing software controls the A/D converter, data monitoring, and data analysis for group classification. The developed system were tested by 4 different materials in left hand and the finger forte transducer in the other hand's thumb and index finger with 16 persons. As the results of experiments, the developed system could measure the finger force quantitatively and classify the measured values into four groups.

• Asian-Australasian Journal of Animal Sciences
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• v.29 no.7
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• pp.1029-1036
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• 2016

This study investigated the degree to which instrumental measurements explain the variation in pork loin tenderness as assessed by the sensory evaluation of trained panelists. Warner-Bratzler shear force (WBS) had a significant relationship with the sensory tenderness variables, such as softness, initial tenderness, chewiness, and rate of breakdown. In a regression analysis, WBS could account variations in these sensory variables, though only to a limited proportion of variation. On the other hand, three parameters from texture profile analysis (TPA)-hardness, gumminess, and chewiness-were significantly correlated with all sensory evaluation variables. In particular, from the result of stepwise regression analysis, TPA hardness alone explained over 15% of variation in all sensory evaluation variables, with the exception of perceptible residue. Based on these results, TPA analysis was found to be better than WBS measurement, with the TPA parameter hardness likely to prove particularly useful, in terms of predicting pork loin tenderness as rated by trained panelists. However, sensory evaluation should be conducted to investigate practical pork tenderness perceived by consumer, because both instrumental measurements could explain only a small portion (less than 20%) of the variability in sensory evaluation.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.91-98
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• 2007

This paper describes the development of the calibration system for a multi-axis force/moment sensor and its uncertainty evaluation. This calibration system can generate the continuous forces (${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$) and moments (${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$). Many kinds of multi-axis force/moment sensors in industries should be carried out the characteristic test or the calibration with the calibration system that can generate the forces and the moments. The calibration systems have been already developed are the disadvantages of the low capacity, the generation of step forces(10N, 20N ...) and step moments(1Nm, 2Nm ...) with weights, the high coasts in manufacture and so on. In this paper, the calibration system for a multi-axis force/moment sensor that can generate the continuous three forces and three moments was developed. Their ranges are $0{\sim}2000N$ in all force-directions and $0{\sim}400Nm$ in all moment-directions. And the system was evaluated in the expanded relative uncertainty. They were ${\pm}0.0004$ in all forces ${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$, and ${\pm}0.0004$ in all moments ${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$.