• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• Journal of the Korean institute of surface engineering
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• v.39 no.5
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• pp.223-228
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• 2006

The current efficiency of copper anode containing impurities in copper sulfate solution for electrorefining was studied at various current type such as direct current, variable current and periodic reverse current. The passivity behavior was investigated by galvanostatic technique. The results obtained were that current efficiency of variable current was higher than those of direct current and periodic reverse current. The increased current efficiency could be explained by the formation of slime structure with lower average resistance due to variable current. The frequency of various factors in variable current condition has a greatest effect on current efficiency. It appeared that frequency increased current efficiency when increased from 1 to 4, but further increases did not have an effect.

• Corrosion Science and Technology
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• v.20 no.6
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• pp.361-366
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• 2021

Localized corrosion behavior of Ni-based Inconel 718 alloy was investigated by electrochemical anodic polarization techniques in NACE TM 0177 A solution of 5 wt% NaCl + 0.5 wt% acetic acid at room temperature. After the solution heat treated at 1080 ℃ for 2.5 h, Inconel 718 was age-hardened at 780 ℃ for 8 h. The microstructure of the alloy surface was investigated by optical microscopic or scanning electron microscopic technique. The austenitic phase with the presence of metal carbides was observed on the surface of Inconel 718. Metal-carbides such as Nb-Mo and Ti-carbide with diameters of approximately 10 and 3 ㎛, respectively, were formed in Inconel 718. Anodic polarization results revealed that localized corrosion was observed at the interface between austenitic phase of a substrate and metal carbides. Difference in electrochemical property between a metal carbide and an austenitic substrate could provide an initiation site for localized corrosion of Inconel 718 surface.

• The Journal of Korean Academy of Prosthodontics
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• v.33 no.3
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• pp.539-549
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• 1995

The purpose of this study was to determine the accuracy of 3 implant impression methods by using strain gauge. The models used for this study were partially edentulous mandibular acrylic resin casts Model A, with two abutment analogs in #46,47 extraction site, represented two implant parallel to to the adjacent natural tooth. Model B represent an anterior implant parallel to the adjacene natural tooth and a posterior implant exhibiting a 15-degree lingual inclination. Master framework were fabricated on the master model, and 3 strain gauges were attached to a master framwork to determine the passivity of fit of the framework to sample casts made by the three impression techniques. The master framework was attached to each sample cast with gold screws, which were tightened with the torque driver to ensure a consistent toque application of 10 Ncm. Universal Digital Measuring System UCAM-5BT was used for strain measuring. Impression techniques studid were : 1. unsplinted tapered impression coping, polyvinyl siloxane, stock tray 2. unsplinted squared impression coping, polyether, custom tray 3. squared impression coping splinted with Duralay resin, polyether, custom tray Through analysis on data from this study, the following conclusions were obtained. 1. There were no statistically significant differences between the mean strain recorded from the sample casts made with the tree impression. But only strain values of model A(parallel group) Y-axis was signifcantly differed between Technique 1 and 3(P<0.05). 2. There was no statistically significant difference between model A(parallel group) and model B(15-degree divergent group).

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.2
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• pp.300-312
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• 1993

The material deterioration of service-exposed boiler tube steels in fossil power plant was evaluated by using the electrochemical technique namely, modified electrochemical potentiokinetic reactivation(EPR). It was focused that the passivation of Mo$_{6}$C carbide which governs the mechanical properties of Mo alloyed steels did not occur even in the passivity region of steel in sodium molybdate solution and the reactivation peak current (Ip) observed as the result of non-passivation indicating the precipitation of Mo$_{6}$C carbides. To obtain the optimal test conditions for the field test by using the specially designed electrochemical cell, the effects of scan rate, the surface roughness and the pH of electrolyte on Ip value were also investigated. Furthermore, the change of mechanical properties occurred during the long time exposure at high temperature was evlauated quantitatively by small punch(SP) tests and micro hardness test taking account of the metallurgical changes. It is known that reactivation peak current (Ip) has a good relationship with Larson-Miller Parameter(LMP) which represents the information about material deterioration occurred at high temperature environment. In addition it was possible to estimate the ductile-brittle transition temperature (DBTT) by means of the SP test. The Sp test could be, therefore, suggested as a reliable test method for evaluating the material degradation of boiler tube steels. From the good correaltion between the SP DBTT and Ip values shown in this study, it was knows that the change of mechanical properties could be evaluated non-destructively by measurring only Ip values.ues.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.333-335
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• 2006

Position of surface objects can be fixed in many ways. The most popular radionavigational systems, including satellite systems, make possible obtaining nearly continuous and very precise ship's position. However, under the water application of radionavigational systems is impossible. Underwater navigation requires other tools and solutions then these encountered in surface and air navigation. In underwater environment vehicles and submarines, operate that have to possess alternative navigational systems. Underwater vehicles, in order to perform their tasks require accurate information about their own, current position. At present, they are equipped with inertial navigational systems (INS). Accuracy of INS is very high but in relatively short periods. Position error is directly proportional to time of working of the system. The basic feature of INS is its autonomy and passivity. This characteristic mainly decides that INS is broadly used on submarines and other underwater vehicles. However, due to previously mentioned shortcoming i.e. gradually increasing position error, periodical calibration of the system is necessary. The simplest calibration method is surface or nearly surface application of GPS system. Another solution, which does not require interruption of performed task and emergence on the surface, is application of comparative navigation technique. Information about surrounding environment of the ship, obtained e.g. by means sonic depth finder or board sonar, and comparing it with accessible pattern can be used in order to fix ship's position. The article presents a structure and a description of working of underwater vehicle navigation system simulator. The simulator works on the basis of comparative navigation methods which exploit in turn digital images of echograms and sonograms. The additional option of the simulator is ability to robust estimation of measurements. One can do it in order to increase accuracy of position fixed with comparative navigation methods application. The simulator can be a basis to build future underwater navigation system.