• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2008.10a
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• pp.35-38
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• 2008

Our country need to introduce wind force power generation system that country is small and narrow and becomes positioning with the other country because there are many mountainous regions. power generation efficiency of existent wind force power generation system is droping rapidly and connote much problem in country quality in case of a low wind. We proposed wind force power generation system that use oil pressure motor and synchronous motor that can improve choice of suitable suspension style and country quality in Korean methods special qualify to improve this.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.5
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• pp.125-130
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• 2016

A low-recoil direct gun is useful in reducing the fire impulse generated by using a traditional shell. To apply a control equation to an AMESim Model, we have formulated a control equation for a recoil mechanism from the free object diagram. By modeling this equation, we have been able to compare the recoil distance and recoil force of a low-recoil direct gun. Here, we can analyze the recoil characteristics between traditional direct guns and low-recoil direct guns with perforated muzzle brakes. It is possible to mount a low-recoil direct gun with a perforated muzzle brake on a lightweight tracked vehicle by reducing its fire impulse.

• Steel and Composite Structures
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• v.48 no.3
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• pp.305-320
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• 2023

The mechanical properties of polymeric composites are degraded under elevated temperatures due to the effect of temperature on the mechanical behavior of the resin and resin fiber interfaces. In this study, the effect of temperature on the impact response of the carbon fiber reinforced plastics (CFRP) was investigated at low-velocity impact (LVI) using a drop-weight impact tester machine. All the composite plates were fabricated using a vacuum infusion process with a stacking sequence of [45/0_2/-45/90_2]s, and a thickness of 2.9 mm. A group of the specimens was exposed to an environment with a temperature cycling at the range of -30 ℃ to 65 ℃. In addition, three other groups of the specimens were aged at ambient (28 ℃), -30 ℃, and 65 ℃ for ten days. Then all the conditioned specimens were subjected to LVI at three energy levels of 10, 15, and 20 J. To assess the behavior of the damaged composite plates, the force-time, force-displacement, and energy-time diagrams were analyzed at all temperatures. Finally, radiography, optical microscopy, and scanning electron microscopy (SEM) were used to evaluate the effect of the temperature and damages at various impact levels. Based on the results, different energy levels have a similar effect on the LVI behavior of the samples at various temperatures. Delamination, matrix cracking, and fiber failure were the main damage modes. Compared to the samples tested at room temperature, the reduction of temperature to -30 ℃ enhanced the maximum impact force and flexural stiffness while decreasing the absorbed energy and the failure surface area. The temperature increasing to 65 ℃ increased the maximum impact force and flexural stiffness while decreasing the absorbed energy and the failure surface area. Applying 200 thermal cycles at the range of -30 ℃ to 65 ℃ led to the formation of fine cracks in the matrix while decreasing the absorbed energy. The maximum contact force is recorded under cyclic temperature as 5.95, 6.51 and 7.14 kN, under impact energy of 10, 15 and 20 J, respectively. As well as, the minimum contact force belongs to the room temperature condition and is reported as 3.93, 4.94 and 5.71 kN, under impact energy of 10, 15 and 20 J, respectively.

• Computers and Concrete
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• v.33 no.2
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• pp.217-240
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• 2024

The purpose of this study is to propose new hysteretic characteristics of medium- to low-rise RC structures controlled by both shear and flexure. Through previous study, the dual lateral force-resisting system composed of shear and flexural failure members has a new failure mechanism that cooperates to enhance the flexural capacity of the flexural failure member even after the failure of the shear member, and the existing theoretical equation significantly underestimates the ultimate strength. In this study, the residual lateral strength mechanism of the dual lateral force-resisting system was analyzed, and, as a result, an equation for estimating the residual flexural strength of each shear-failure member was proposed. The residual flexural strength of each shear-failure member was verified in comparison with the structural testing results obtained in previous study, and the proposed residual flexural strength equation for shear-failure members was tested for reliability using FEA, and its applicable range was also determined. In addition, restoring-force characteristics for evaluating the seismic performance of the dual lateral force-resisting system (nonlinear dynamic analysis), reflecting the proposed residual flexural strength equation, were proposed. Finally, the validity of the restoring-force characteristics of RC buildings equipped with the dual lateral force-resisting system proposed in the present study was verified by performing pseudo-dynamic testing and nonlinear dynamic analysis based on the proposed restoring-force characteristics. Based on this comparative analysis, the applicability of the proposed restoring-force characteristics was verified.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.1
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• pp.33-43
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• 2007

Using the more common conventional chordwise aerodynamic approach, flapping a flat plate wing with zero degree chordwise pitch angle of attack and no relative wind should not produce lift. However, in hover, with no forward relative velocity and zero degree chordwise pitch angle of attack, flapping flat plate wings does in fact produce lift. In the experiments peformed for this paper, the flapping motion is considered pure(downstroke and upstroke) with no flapping stroke plane inclination angle. No changes in chordwise pitch angle are made. The total force is measured using a force transducer and the net aerodynamic force is determined from this measured total force by subtracting the experimentally determined inertial contribution. These experiments were repeated at various flapping frequencies and for various wing planform sizes for flat plate wings. The trends in the aerodynamic lift variation found using a force transducer have nearly identical shape for various flapping frequencies and wing planform sizes.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.63-65
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• 2005

Because of simple principal and low cost, resistance spot welding has been used a lot for joining the sheet metal in automotive manufacturing process. Welding current, welding time, and force are the most important variables in resistance spot wording. Air guns have hem still used widely. The requirement of synchronizing between robot and weld-gun has become bigger as the field has been automated. The number of servo-gun in the field is trending upward because there're advantages as like to synchronize with robot and to control the stroke path and force by programming on servo-gun system. But no cleared force control method is suggested on servo-gun system until now. In this study, we proved the feedback current of the servo-motor can be used to an excellent force measuring sensor and the force is controlled by the feedback current. And we also detected force lowering during welding cycle on the servo-gun system and solved by compensated force control.

• Nuclear Engineering and Technology
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• v.45 no.2
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• pp.257-264
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• 2013

In Canada Deuterium Uranium (CANDU)-type nuclear power plants, the reactor is composed of 380 fuel channels and refueling is performed on one or two channels per day. At the time of refueling, the fluid force of the cooling water inside the channel is exploited. New fuel added upstream of the fuel channel is moved downstream by the fluid force of the cooling water, and the used fuel is pushed out. Through this process, refueling is completed. Among the 380 fuel channels, outer rows 1 and 2 (called the FARE channel) make the process of using only the internal fluid force impossible because of the low flow rate of the channel cooling water. Therefore, a Flow Assist Ram Extension (FARE) tool, a refueling aid, is used to refuel these channels in order to compensate for the insufficient fluid force. The FARE tool causes flow resistance, thus allowing the fuel to be moved down with the flow of cooling water. Although the existing FARE tool can perform refueling in Korean plants, the coolant flow rate is reduced to below 80% of the normal flow for some time during refueling. A Flow rate below 80% of the normal flow cause low flow rate alarm signal in the plant operation. A flow rate below 80% of the normal flow may cause difficulties in the plant operation because of the increase in the coolant temperature of the channel. A new and improved FARE tool is needed to address the limitations of the existing FARE tool. In this study, we identified the cause of the low flow phenomena of the existing FARE tool. A new and improved FARE tool has been designed and manufactured. The improved FARE tool has been tested many times using laboratory test apparatus and was redesigned until satisfactory results were obtained. In order to confirm the performance of the improved FARE tool in a real plant, the final design FARE tool was tested at Wolsong Nuclear Power Plant Unit 2. The test was carried out successfully and the low flow rate alarm signal was eliminated during refueling. Several additional improved FARE tools have been manufactured. These improved FARE tools are currently being used for Korean CANDU plant refueling.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.196-201
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• 2003

The experimental research was conducted to find an end mill with an ideal helix angle, which has a superior anti-vibration effect and a low machining-tolerance. A conventional endmill which all four blades are $30^\circ$ helix angles and a different helix angle endmill which the opposite two blades are $30^\circ$ and the other opposites are different helix angles were studied. The cutting force, machining tolerance and surface roughness were obtained. The AE signals appeared to have low values in up-milling rather than in down-milling. These are also appeared to have low values at low spindle revolutions rates. The cutting force values of Fxy and Fxyz were found to be increased according to the value of helix angle. In up-milling, it was difficult to find a definite tendency in machining tolerance, but in down-milling, machining tolerance of the different helix angle end mill was found to be lower than that of the convention end mill. There is a definite tendency that the surface roughness gets better as the RPM increases. In down-milling, Type $A(25^\circ+30^\circ)$ appeared to bring the most satisfactory result.