• Korean Journal of Materials Research
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• v.15 no.11
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• pp.690-696
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• 2005

The ultrastructure ore of a nanostructured apatite film nucleated from solution was studied to gain insights into that of bone minerals which is the most important constituent to sustain the strength of bones. Needle-shaped apatite crystal plates with a bimodal size distribution $(\~100\;to\;\~1000 nm)$ were randomly distributed and they were found to grow parallel to the c-axis ([002]), driven by the reduction of surface energy. Between these randomly distributed needle-shaped apatite crystals which are parallel to the film, apatite crystals (20-40nm) with the normal of the grains quasi-perpendicular to the c-axis were observed. These observations suggest that the apatite film is the interwoven structure of apatite crystals with the c-axis parallel and quasi-perpendicular to the fan. In some regions, amorphous calcium phosphate, which is a precursor of apatite, was also observed. In the amorphous phase, small crystalline particle with the size of 2-3 nm were observed. These particles were quite similar, in size and shape, to those observed in the femoral trabecular bone, suggesting the nucleation of apatites by a biomimetic process in vitro is similar to that in vivo.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.2
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• pp.202-208
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• 2008

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.519-522
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• 2001

In this paper, I propose double parallel manipulator for machining work. And I derive an kinematics by combining the kinematics of the central axis and the kinematics of the link train of linear actuator. The Jacobian of the central axis and the Jacobian of the link train of the linear actuators are induced by a motor algebra and they are combined to an entire Jacobian matrix to transform the velocity of the end effector to those of linear actuators. And then this paper presents the development of control system and user interface program for machining work.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.115-120
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• 2001

A gyroscope is a rotating body possessing one axis of symmetry and whose rotation about the symmetry axis is relatively large compared with the rotation about any other axis. Tuning fork is this type of structure that various modem gyro-sensors are based on. In this paper, dynamic behavior of a cantilevered beam subjected ta a base rotation with respect to the eccentric axis that is parallel to the beam axis is analyzed. The final equations of motion in terms of generalized coordinates can be solved with numerical scheme with various values of angular velocities and angular accelerations of the rotating axis. In contrast to the case of rotating cantilever beam like helicopter blade, the rotational motion with respect to the beam axis has effect to decrease the stiffness of the beam and has unstable region depending on the magnitude of the rotational angular velocity and angular acceleration.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.469-470
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• 2009

• Journal of Drive and Control
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• v.13 no.1
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• Korean Journal of Optics and Photonics
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• v.20 no.5
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• pp.288-293
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• 2009

Polarization characteristics of a composite film composed of two optically anisotropic films are analyzed. The procedure to determine the effective optics axis and the equivalent retardation of the composite film is suggested in conjuction with the related ellipsometric expressions. The explicit expressions of the effective optic axis and the equivalent retardation of a non-uniform anisotropic film are derived when all optic axes are parallel. Those expressions of the composite film where optic axes of two constituting anisotropic films are not parallel are also derived. Dependence of those expressions on the polarization state of the incident light or the azimuth angle of the linearly polarized light and their limit when applied to practical use are discussed.

• Korean Journal of Metals and Materials
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• v.49 no.9
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• pp.726-731
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• 2011

The present work shows how the flexural displacement-induced fracture strength of silicon devices, whose back surfaces have wafer grinding-induced scratch marks, depends on the crystallographic orientation. Experimental results indicate that silicon devices with scratch marks parallel to their lateral direction (i.e. reference axis in this work) are very susceptible to flexural fracture, as compared to devices with marks which deviated from the direction. The 3-point bending test shows that the fracture strength of silicon devices having marks which are oriented away from the reference axis is 2.6 times higher than that of devices with marks parallel to the axis. It was particularly interesting to see that silicon devices with identical preferred marks even reveal different fracture strengths, depending on whether the marks are involved in specific crystal planes such as {111} or {011}, called cleavage planes. This work demonstrates that silicon devices with the reference axis-aligned scratch marks not existing on such cleavage planes can have higher fracture strength approximately 20% higher than those existing on the planes.

• Journal of architectural history
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• v.14 no.2 s.42
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• pp.41-55
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• 2005

Temple with Multi-Buddha's Pavilions is a temple consisting of more than 2 Buddha's Pavilions. Individual Buddha's Pavilions tend to form distinguished area, or to keep independent axis from other Buddha's Pavilions. This study is to understand the philosophy of layout of individual Buddha's Pavilions located in the Temple with Multi-Buddha's Pavilions. To investigate a relationship to layout of individual Buddha's Pavilions on the basis of Buddhism doctrine makes us to understand philosophies about temple layout which temple constructors had. Bulkooksa, a temple having several pavilions placed in parallel, integrates diverse philosophies such as Vairocana Buddha-Ksetra from Vairocana Buddha's Pavilion, Sakyamuni Buddha-Ksetra from both Sakyamuni Buddha's Pavilion and two stupa, and Amitayus Buddha-Ksetra (Sukhavati) from Amitayus Buddha-Ksetra Pavilion. Sakyamuni Buddha's Pavilion and Amitayus Buddha's Pavilion are placed east to west in parallel, and Vairocana Buddha's Pavilion is placed behind them. Beobjusa, a temple having several pavilions placed cross axis, combines three axes such as the first, main axis linking Kumkang Gate - Chunwang Gate - Palsang Pavilion - Amitayus Buddha's Pavilion - Sakyamuni Buddha's Pavilion, the second axis linking Palsang Pavilion -Maitreya Pavilion, and the third axis linking Amitayus Buddha's Pavilion - Avalokiteshvara Pavilion. Relationship among each Buddha's land is clearly expressed by means of this cross axis layout of Buddha's Pavilions, reflecting a philosophy of rebirth in Nirvana that Wonhyo and Eusang propagated. Buseoksa, a temple having several pavilions placed the before and the behind, combines three Buddha's lands such as Maitreya Buddha-Ksetra, Amitayus Buddha-Ksetra and Vairocana Buddha-Ksetra, by means of arrangement of Maitreya Pavilion, Anyang Pavilion and Amitayus Buddha's Pavilion at bended axis, and east facing Amitayus Buddha. By investigating the philosophy of Temple layout with Multi-Buddha's Pavilions in this study, Buddha's Land conception, for people, that ancient Korean temples have, is understood.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.