• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.73-80
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• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.40
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• pp.8.1-8.6
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• 2018

Background: This study was to evaluate the effect of bone graft procedure on the primary stability of implants installed in fresh sockets and assess the vertical alteration of peri-implant bone radiographically. Methods: Twenty-three implants were inserted in 18 patients immediately after tooth extraction. The horizontal gap between the implant and bony walls of the extraction socket was grafted with xenografts. The implant stability before and after graft procedure was measured by Osstell Mentor as implant stability quotient before bone graft (ISQ bbg) and implant stability quotient after bone graft (ISQ abg). Peri-apical radiographs were taken to measure peri-implant bone change immediately after implant surgery and 12 months after implant placement. Data were analyzed by independent t test; the relationships between stability parameters (insertion torque value (ITV), ISQ abg, and ISQ bbg) and peri-implant bone changes were analyzed according to Pearson correlation coefficients. Results: The increase of ISQ in low primary stability group (LPSG) was 6.87 ± 3.62, which was significantly higher than the increase in high primary stability group (HPSG). A significant correlation between ITV and ISQ bbg (R = 0.606, P = 0.002) was found; however, age and peri-implant bone change were not found significantly related to implant stability parameters. It was presented that there were no significant peri-implant bone changes at 1 year after bone graft surgery. Conclusions: Bone graft procedure is beneficial for increasing the primary stability of immediately placed implants, especially when the ISQ of implants is below 65 and that bone grafts have some effects on peri-implant bone maintenance.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.4
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• pp.11-18
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• 1998

This study describes sea trial tests for a waterjet propulsion system attached in the hybrid super high speed cargo ship named "Narae". A measuring technique of jet velocity, gross thrust and impeller torque for the waterjet system is explained. From the measured data in sea trial test, performance of the waterjet propulsion system is analyzed and compared with model test results of a similar waterjet system which was carried out in 1996. The erective horse power estimated from sea trial tests shows a good agreement with resistance test results of the model ship. The optimum rising height is estimated as 0.75 m, and the overall efficiency of the waterjet system is predicted as 0.315 at 15 knots. Useful data such as the pump performance, the jet efficiency, the losses of inlet duct and nozzle were obtained. Test results show a similar behavior to the model test results.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.2
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• pp.44-48
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• 2007

In recent years, the size of plane substrates and semiconductor wafers has increased. As conventional contact transportation systems composed of, for example, carrier rollers, belt conveyers, and robot hands carry these longer and wider substrates, the increased weight results in increased potential for fracture. A noncontact transportation system is required to solve this problem. We propose a new noncontact transportation system combining acoustic viscous and aerostatic forces to provide damage-free transport. In this system, substrates are supported by aerostatic force and transported by acoustic viscous streaming induced by traveling wave deformation of a disk-type stator. A ring-type piezoelectric transducer bonded on the stator excites vibration. A stator with a high Q piezoelectric transducer can generate traveling vibrations with amplitude of $3.2{\mu}m$. Prior to constructing a carrying road for substrates, we clarified the basic properties of this technique and stator vibration characteristics experimentally. We constructed the experimental equipment using a rotational disk with a 95-mm diameter. Electric power was 70 W at an input voltage of 200 Vpp. A rotational torque of $8.5\times10^{-5}Nm$ was obtained when clearance between the stator and disk was $120{\mu}m$. Finally, we constructed a noncontact transport apparatus for polycrystalline silicon wafers $(150(W)\times150(L)\times0.3(t))$, producing a carrying speed of 59.2 mm/s at a clearance of 0.3 mm between the stator and wafer. The carrying force when four stators acted on the wafer was $2\times10^{-3}N$. Thus, the new noncontact transportation system was demonstrated to be effective.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.2
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• pp.129-138
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• 2012

In this study, three types of large scale multi-tasking machine tools together with core technologies involved have been developed and introduced; a multi-tasking machine tool for large scale marine engine crankshafts, a multi-tasking vertical lathe for windmill parts, and a large scale 5-axis machine tool of gantry type. Several special purpose devices has been necessarily developed for the purpose of handling and machining big and heavy workpieces accurately, such as PTD (Pin Turning Device) with revolving ring spindle for machining eccentric crankshaft pins, hydrostatic rotary table and steady rest for supporting and resting heavy workpieces, and 2-axis automatic swiveling head for high-quality free surface machining. Core technologies have been also developed and adopted on their detail design stage; 1) structural design optimization with FEM structural analysis, 2) theoretical hydrostatic analysis for the PTD and rotary table bearings, 3) box-in-box type cross-rail and octagonal ram design to secure machine rigidity and accuracy, 4) constant spindle rpm control against gravitational torque due to unbalanced workpiece.

• Journal of the Korean Institute of Gas
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• v.12 no.3
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• pp.13-19
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• 2008

Among the various prime movers for combined heat and power (CHP) system, the CNG engine is the most commonly used power generation equipment of which power is less than 1MW. The 300 kW class CNG engine for CHP can meet stringent emission regulations with the adoption of stoichiometric air-fuel ratio control and three way catalyst. As the thermal efficiency of the stoichiometric ratio engine is lower than that of lean burn engine, it is necessary to operate the stoichiometric engine at its minimum spark advance for the best torque (MBT). However, knock control should be introduced for the engine under high intake air temperature conditions because MBT operating conditions are generally very close to those of knock occurrence. In this study, engine performances and knocking characteristics were experimentally investigated for the CNG engine that needs to be operated at higher intake air temperature conditions than normal conditions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.2
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• pp.315-322
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• 2017

This study presents a novel two­phase eight stator poles and six rotor poles (8/6) switched reluctance machine (SRM) that can compensate for the vibration and noise problems of two­phase 6/3 SRM and compare the characteristics of two SRMs. In the case of two­phase 6/3 SRM, the short flux path and the flux direction inside the stator are not reversed, so they have high efficiency characteristics. However, the use of three rotor poles causes problems of vibration and noise because the radial force applied to the rotor poles is not balance. The proposed two­phase 8/6 SRM has advantages of 6/3 SRM such as the flux­reversal­free stator and it can improve vibration and noise by using six rotor poles due to balanced radial force acting on the rotor poles. In order to make a reasonable comparison between two SRMs, the electromagnetic field structure of 8/6 SRM is designed to have equivalent torque characteristic to 6/3 SRM and then the copper loss and core loss are compared and analyzed. Finally, we compare the effieicney of two SRMs using finite element analysis and compare the distribution of radial force acting on the rotor poles based on Maxwell's stress method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.5
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• pp.3044-3050
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• 2015

The purpose of this study is to analyze the performance of the flow control oil pump for automatic transmission. The numerical model for analysis the performance of the flow control oil pump was develop and the characteristics of the internal flow, discharge flow rate, displacement of outer ring, driving torque, generation of cavitation was investigated according to rotating speed. As a result, the cavitation generation increased as the rotating speed increased. The volumetric efficiency was 90% for 2200 rpm and it decreased rapidly, then it decreased about 81% for 5000 rpm. Besides, the cavitation generation was 20%~30% for inlet of suction part, but it reduced below 13% owing to the compression. However, it shows higher cavitation generation for high rotating speed like 5000 rpm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1523-1531
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• 2011

Multi-axle driving vehicle are favored for military use in off road operations because of their high mobility on extreme terrains and obstacles. Especially, Military Vehicle needs an ability to driving on hills of 60% angle slope. This paper presents the improvement of the ability of hill climbing for 6WD/6WS vehicle through the optimal tire force distribution method. From the driver's commands, the desired longitudinal force, the desired lateral force, and the desired yaw moment were obtained for the hill climbing of vehicle using optimal tire force distribution method. These three values were distributed to each wheel as the torque based on optimal tire force distribution method using friction circle and cost function. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. Two vehicles, the one the proposed algorithm is implemented and the another the tire's forces are equivalently distributed, are compared. At the hill slop, the ability to driving on hills is improved by using the optimum tire force distribution method.

• Journal of the Korean Institute of Gas
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• v.17 no.5
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• pp.8-14
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• 2013

Hydrogen-natural gas blends(HCNG) engine is optimizing technology of performance and emission characteristics with use of hydrogen's fast flame speed and wide flammability limit. As lean-burn limit is extended, the improvement in thermal efficiency and harmful emissions can be achieved. However, the extension of lean-burn limit under a wide open throttle operation point could be realized with the increase in boosting capacity in a lean-burn engine with turbo-charging system. In the present study, the power output characteristics of HCNG engine with turbo-charger change is assessed and feasibility of the increase in boosting capacity is evaluated. The turbo-charger design with high efficiency at higher flow rate rather than higher boosting pressure makes efficient operation possible at relatively rich mixture condition.