• 대한기계학회논문집
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• 제18권2호
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• pp.292-301
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• 1994

The resultant cutting force during machining with a worn tool is viewed as a decomposition of the cutting force into a cutting force component related to chip removal from the workpiece and into a component dependent on the contact force between the tool flank's wear land and the workpiece. The shear line method, in which the cutting force is considered proportional to the length of the shear line, is used to calculate the cutting force component for the removal of the chip, while the elastic effect of the workmaterial on the tool is taken into consideration to analyze the effect of tool flank wear. The predicted resultant cutting force, expressed as the sum of both components, is compared to experimental data obtained during wave-on-wave cutting.

• 로봇학회논문지
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• 제8권2호
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• 대한전기학회논문지
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• 제40권2호
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• pp.207-216
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• 1991

In the case that the robot manipulator should respond to the variance and uncertainty of the environment in performing preforming precision tasks, it is indispensable that the robot utilizes the various sensors for intrlligence. In this paper, the robot force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator for performing the various application tadks. The hybrid position/force control method is used to control the force and position axis separately. An interface board is designed to read the force/torque sensor output into the computer. Since the two computers should exchange the information quickly, a common memory board is designed. Before the algorithms of application tasks are developed, the basic force commands must be supplied. Thus, the MOVE-UNTIL command is used at the discrete time instant and, the MOVE-COMPLY is used at the continuous time instant for receiving the force feedback information. Using the two basic force commands, three application algorithms are developed and implemented for edge-following, insertion, and grinding tasks.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 한국정밀공학회지
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• 제2권3호
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• pp.47-58
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• 1985

The study is concerned with the analysis of the required loads and torque in the Three-Roll Power Spinning Process by using the Method of Force Polygon Diagram. Experiments are carried out using pure lead billets at room temperature. The radial force, the axial force and the torque occurring during the process are calculated theoretically and are compared with the experimental data. An approximate load distribution is known by the Force Polygon Diagram.

• 한국전산구조공학회논문집
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• 제29권2호
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• pp.149-159
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• 2016

본 연구에서는 Navier-Stokes solver에 기초한 TWOPM-3D와 자유수면을 효과적으로 추적할 수 있는 VOF법을 결합한 수치해석법으로 연안역의 육상 교량에 작용하는 고립파에 의한 지진해일파력을 수치적으로 검토하였으며, 연직벽체와 연직주상구조물에 작용하는 단파파력에 관한 기존의 실험치와 비교 검토하여 본 수치해석의 타당성을 검증하였다. 실제로 피해를 입은 교량에 대해 지진해일파고의 변화에 따른 파력의 특성을 수치실험을 통하여 조사하였으며, 육상 교량에 작용하는 지진해일파력의 추정에 항력 성분만을 고려한 Morison식으로부터 얻어진 항력계수의 결과와 설계기준과의 비교로부터 본 3차원 수치해석의 유용성을 논의하였다. 또한, 지진해일파력을 보다 고정도로 추정할 수 있는 합리적인 방법으로 항력과 관성력을 동시에 고려한 Morison식의 적용을 제안하였다.

• Journal of Electrical Engineering and Technology
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• 제2권2호
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• pp.208-215
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• 2007

The significant drawback of the permanent magnet linear synchronous motor (PMLSM) is force ripples, which are generated by the distortion of the stator flux linkage distributions, cogging forces caused by the interaction of the permanent magnet and the iron core and the end effects. This will deteriorate the performance of the drive system in high precision applications. The PMLSM and its parasitic effects are analyzed and modeled using the complex state-variable approach. To minimize the force ripple and realize the high precision control, the components of force ripples are extracted first and then compensated by injecting the instantaneous current to counteract the force ripples. And this method of the PMLSM system is realized by the field oriented control method. In order to verify the validity of this proposed method, the system simulations are carried out and the results are analyzed. The effectiveness of the proposed force ripples reduction method can be seen according to the comparison between the compensation and non-compensation cases.

• 대한수학회논문집
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• 제15권1호
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• pp.133-142
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• 2000

We consider some numerical solution methods for equilibrium equations Af + E$^{T}$ λ = r, Ef = s. Algebraic problems of this form evolve from many applications such as structural optimization, fluid flow, and circuits. An important approach, called the force method, to the solution to such problems involves dimension reduction nullspace computation for E. The purpose of this paper is to investigate the substructuring method for the solution step of the force method in the context of the incompressible fluid flow. We also suggests some iterative methods based upon substructuring scheme..

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 가을 학술발표회 논문집
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• pp.193-200
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• 2000

Numerical analysis of slope stability is presented using slice method, static seismic analysis methods, and earthquake response analysis methods. Static seismic force is considered as 0.2g while vertical static seismic force is not considered in analysis. For earthquake response analysis, Hachinohe-wave is applied. Safety factor calculated using slice method for failure surface. Calculating methods are Bishop's method and Janhu's method. Static seismic analysis was applied using Mhor-Coulomb model and earthquake response analysis was applied using non-linear elastic model.