• Title/Summary/Keyword: Position/Force Control

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A study on the dynamic performance of self-healing capsule based on carbonyl iron particles(CIPs) in magnetic field (자기장 환경에서 카르보닐철입자(CIPs) 기반 자가치유 캡슐의 동적 성능 분석에 관한 연구)

  • Cheng, Hao;Hu, Jie;Lim, Taeuk;Lee, Yeong Jun;Kim, Sangyou;Jung, Wonsuk
    • Proceedings of the Korean Institute of Building Construction Conference
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    • 2022.11a
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    • pp.241-242
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    • 2022
  • Recently, related studies on the application of bacterial spores to self-healing concrete have been widely reported. Using the self-healing method of bacterial spores as a kind of pro-environment, the green method is very attractive, but because the living environment of bacterial spores is relatively harsh, it is necessary to have a way to separate the living environment of bacterial spores from the harsh external environment, And release bacterial spores when needed. Therefore, capsules are widely used in self-healing concrete. To enhance the self-healing effect, the capsules need to be evenly distributed in the concrete. Furthermore, we develop a CIP-based smart capsule with controllability. We determined the magnetic force of each capsule by mixing CIP in resin, then mass-fabricating the capsules for self-healing by a microfluidic method, and by measuring the kinetic distance of the capsules containing different amounts of cip under the action of a magnetic field strength. The results show that with the increase of the amount of cip, the active distance of the capsule also increases. When the cip is 8wt%, the active distance reaches 1.75cm. We believe this research can provide momentum for the development of self-healing capsule applications.

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A Study of Aesthetical Value of Composition Principle on Security Guard Martial Arts (경호무도 구성원리의 미학적 탐색)

  • Kim, Pyong-Soo;Lim, Dae-yong;Son, Jin
    • Korean Security Journal
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    • no.25
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    • pp.131-146
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    • 2010
  • Purpose of this research about reduction the scholastic systematic triangular position of the security guard martial art which repeats a development is insufficient with demand of the while society to recognize and for the philosophic value research of security guard martial art composition principle puts out with the one method and from the reporter to search the aesthetics which appears does. In order to attain the goal of the research which sees the literature which relates with an security guard martial art widly, was an investigation and observed the aesthetics from concept and martial art of aesthetics and this the technical free use ability from actual site of the technical find which leads the practice voluntary repetition practice of security guard martial art with character and the body guard aesthetic integral part experience possibly did, there being will be able to acquire an aesthetic inspiration, confirmed. So the security guard martial art follows the composition principle of maximization central attitude and shock point breath control and mental intensive etc. of reinforcement of direction shock of relativity redundancy mental moral culture body agreement characteristic force and relaxation force and is completed and will be able to embody an aesthetic value with aesthetic elements of technical polishing process inside goes about reduction.

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Interaction Analysis between Tapered Sectional Launching Nose and Superstructure Section of ILM Concrete Bridge (변단면 압출추진코와 ILM 교량 상부단면의 상호작용 해석)

  • Lee Hwan-Woo;Jung Du-Hwoe;Ahn Tae-Wook
    • Journal of the Computational Structural Engineering Institute of Korea
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    • v.19 no.2 s.72
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    • pp.139-150
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    • 2006
  • ILM(incremental launching method) bridge is one of the prestressed concrete bridge construction methods widely adopted owing to its effectiveness for the quality control. The sections of the launched superstructure pass every position of the bridge spans. This launching process causes the bridge sections to be experienced in the quite different stress states with the stress state occurred after construction completely. Due to the self weight of sections, particularly, the superstructure sections(deck) experience maximum positive and negative moment as well as maximum shear force during launching process. To minimize the temporarily caused sectional forces, launching nose is generally used in the construction method. Therefore, the magnitude of this sectional forces should be checked for the safety of super structure in construction and it is dependent on the structural characteristics of launching nose. In this study, the simplified formulas to analyze the sectional force occurred by the nose-deck interaction in ILM construction are developed. The considering parameters are the span length ratio, stiffness ratio and weight ratio between the launching nose and the super structure. In particular, the developed formulas can consider the tapered sectional shape of launching nose and the diaphragm wall in the superstructure. Additionally, the sensitivity analysis is performed to analyze the effects of nose-deck interaction according to the design parameters.

A LiDAR-based Visual Sensor System for Automatic Mooring of a Ship (선박 자동계류를 위한 LiDAR기반 시각센서 시스템 개발)

  • Kim, Jin-Man;Nam, Taek-Kun;Kim, Heon-Hui
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.28 no.6
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    • pp.1036-1043
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    • 2022
  • This paper discusses about the development of a visual sensor that can be installed in an automatic mooring device to detect the berthing condition of a vessel. Despite controlling the ship's speed and confirming its location to prevent accidents while berthing a vessel, ship collision occurs at the pier every year, causing great economic and environmental damage. Therefore, it is important to develop a visual system that can quickly obtain the information on the speed and location of the vessel to ensure safety of the berthing vessel. In this study, a visual sensor was developed to observe a ship through an image while berthing, and to properly check the ship's status according to the surrounding environment. To obtain the adequacy of the visual sensor to be developed, the sensor characteristics were analyzed in terms of information provided from the existing sensors, that is, detection range, real-timeness, accuracy, and precision. Based on these analysis data, we developed a 3D visual module that can acquire information on objects in real time by conducting conceptual designs of LiDAR (Light Detection And Ranging) type 3D visual system, driving mechanism, and position and force controller for motion tilting system. Finally, performance evaluation of the control system and scan speed test were executed, and the effectiveness of the developed system was confirmed through experiments.

Effect of Experimental Muscle Fatigue on Muscle Pain and Occlusal Pattern (실험적으로 유발되는 근피로가 근통증 및 교합양상에 미치는 영향)

  • Kim, Jae-Chang;Lim, Hyun-Dae;Kang, Jin-Kyu;Lee, You-Mee
    • Journal of Oral Medicine and Pain
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    • v.33 no.3
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    • pp.279-294
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    • 2008
  • This study aimed to make an analysis of the occlusion in the state of muscle fatigue produced by excessive mouth opening and clenching during the dental treatment to control the dental pain and to evaluate the sensory nerve in the muscle pain state. Most of the reasons why patients visit the dental office result in pain-either conceivably the dental origin pain or the non-dental origin pain. The dental offices have many therapeutic actions to produce the masticatory muscle fatigue for the treatment. Dental treatment with long minutes of mouth opening can cause some headaches, masticatory muscle pain and mouth opening difficulties. Patients with mastication problems who visits a dental office to alleviate pain run against another unexpected pain with other aspects. This study uses T-scan II system(Tekscan Co., USA) for the evaluation on the occlusal pattern in the experimental muscle fatigue after clenching, opening the mouth excessively and chewing gum. The occlusal contact pattern is analyzed by the contact timing, namely first, intercuspal, maximum and end point of contact. This inspection was performed at frequencies of 2000Hz, 250 Hz and 5 Hz before and after each experimental muscle pain was produced to 24 subjects who had normal occlusion without the orthodontic treatment or a wide range of the prosthesis by using $neurometer^{\circledR}$ CPT/C(Neurotron, Inc. Baltimore, Maryland, USA). The measuring sites were mandibular nerve experimental muscle fatigue respectively. This study could obtain the following results after the assessment of occlusion and sensory nerve of the experimental muscle fatigue. 1. There were the fastest expression after the excessive mouth opening in muscle fatigue and after tooth clenching in muscle pain. In the visual analog scale that records the subjective level, there was the highest scale after the clenching in the muscle fatigue in jumping off the point of pain. 2. Tooth contact time, contact force, relative contact force on the point of the first contact had no difference, and there were decreases in the contact force after the excessive mouth opening on intercuspal position point, after the excessive mouth opening and the gum chewing on the point of the maximum, and in the contact time after all the experimental muscle fatigue state on the point of the end contact. 3. There was no statistic significance in the current perception threshold before and after the experimental muscle fatigue. 4. There was no significant difference in the contact number, the maximal contact number on the point of the first contact, and the contact number after the mouth opening and gum chewing on the point of the intercuspal position and the contact number after the experimental muscle fatigue on the maximum point, and showed significant decreases. In conclusion, it was found that the occlusal pattern can cause the changes on the case of the clinical muscle weakness by intra-external oral events. It was important that the sedulous attention to details is required during dental treatment in case of excessive mouth opening, mastication and clenching.

Feasibility Study for the Cleaning of Well Screens using High-voltage Pulsed Discharge (고전압 펄스 방전을 이용한 지하수 관정 스크린 공막힘 재생법 연구)

  • Chung, Kyoung-Jae;Lee, Seok-Geun;Dang, Jeong-Jeung;Choi, Gil-Hwan;Hwang, Y.S.;Kim, Chul-Young;Park, Young-Jun
    • The Journal of Engineering Geology
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    • v.23 no.1
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    • pp.29-36
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    • 2013
  • The application of appropriate rehabilitation methods can improve the efficiency of clogged wells and extend their life. In this paper, we study the feasibility of well cleaning using high-voltage pulsed discharge, in which electrical energy is used to produce impulsive pressure in water, in contrast to conventional methods that employ chemical or pneumatic energy sources. This technique utilizes the compressive shock wave generated by the expansive force of hot, dense plasma that is produced during a pulsed discharge in the gap between electrodes immersed in water. Compared with conventional techniques, this method is simple, and easy to handle and control. Using a capacitive pulsed power system with an electrical energy of 200 J, an impulsive pressure of 10.7 MPa is achieved at the position 6 cm away from the discharge gap. The amplitude of the impulsive pressure was easily controlled by adjusting the charging voltage of the capacitor and was almost linearly proportional to peak discharge current. The technique achieved good results in cleaning feasibility tests with mock-up specimens similar to clogged well screens.

Numerical Modeling of Flow Characteristics within the Hyporheic Zones in a Pool-riffle Sequences (여울-소 구조에서 지표수-지하수 혼합대의 흐름 특성 분석에 관한 수치모의 연구)

  • Lee, Du-Han;Kim, Young-Joo;Lee, Sam-Hee
    • Journal of Wetlands Research
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    • v.14 no.1
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    • pp.75-87
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    • 2012
  • Hyporheic zone is a region beneath and alongside a stream, river, or lake bed, where there is mixing of shallow groundwater and surfacewater. Hyporheic exchange controls a variety of physical, biogeochemical and thermal processes, and provides unique ecotones in a aquatic ecosystem. Field and experimental observations, and modeling studies indicate that hyporheic exchange is mainly in response to pressure gradients driven by the geomorphological features of stream beds. In the reach scale of a stream, pool-riffle structures dominate the exchange patterns. Flow over a pool-riffle sequence develops recirculation zones and stagnation points, and this flow structures make irregular pressure gradient which is driving force of the hyporheic exchange. In this study, 3 D hydro-dynamic model solves the Reynolds-averaged Navier-Stokes equations for the surface water and Darcy's Law and the continuity equation for ground water. The two sets of equations are coupled via the pressure distribution along the interface. Simulation results show that recirculation zones and stagnation points in the pool-riffle structures dominantly control the upwelling and downwelling patterns. With decrease of recirculation zones, length of donwelling zone formed in front of riffles is reduced and position of maximum downwelling point moves downward. The numerical simulation could successfully predict the behavior of hyporheic exchange and contribute the field study, river management and restoration.

The fracture resistance of heat pressed ceramics with wire reinforcement (금속선 강화에 따른 열 가압 도재의 파절저항)

  • Jo, Deuk-Won;Dong, Jin-Keun;Oh, Sang-Chun;Kim, Yu-Lee
    • The Journal of Korean Academy of Prosthodontics
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    • v.47 no.2
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    • pp.191-198
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    • 2009
  • Statement of problem: Ceramics have been important materials for the restoration of teeth. The demands of patients for tooth-colored restorations and the availability of various dental ceramics has driven the increased use of new types of dental ceramic materials. Improved physical properties of theses materials have expanded its use even in posterior crowns and fixed partial dentures. However, ceramic still has limitation such as low loading capability. This is critical for long-span bridge, because bridge is more subject to tensile force. Purpose: The wire reinforced ceramic was designed to increase the fracture resistance of ceramic restoration. The purpose of this study was to evaluate the fracture resistance of wire reinforced ceramic. Material and methods: Heat pressed ceramic(ingot No.200 : IPS Empress 2, Ivoclar Vivadent, Liechtenstein) and Ni-Cr wire(Alfa Aesar, Johnson Matthey Company, USA) of 0.41 mm diameter were used in this study. Five groups of twelve uniform sized ceramic specimens(width 4 mm, thickness 2 mm, length 15 mm) were fabricated. Each group had different wire arrangement. Wireless ceramic was used as control group. The experimental groups were divided according to wire number and position. One, two and three strands of wires were positioned on the longitudinal axis of specimen. In another experimental group, three strands of wires positioned on the longitudinal axis and five strands of wires positioned on the transverse axis. Three-point bending test was done with universal testing machine(Z020, Zwick, Germany) to compare the flexural modulus, flexural strength, strain at fracture and fracture toughness of each group. Fractured ceramic specimens were cross-sectioned with caborundum disc and grinded with sandpaper to observe interface between ceramic and Ni-Cr wire. The interface between ceramic and Ni-Cr wire was analyzed with scanning electron microscope(JSM-6360, JEOL, Japan) under platinum coating. Results: The results obtained were as follows: 1. The average and standard deviation in flexural modulus, flexural strength and fracture toughness showed no statistical differences between control and experimental groups. However, strain was significantly increased in wire inserted ceramics(P<.001). 2. Control group showed wedge fracture aspects across specimen, while experimental groups showed cracks across specimen. 3. Scanning electron microscopic image of cross-sectioned and longitudinally-sectioned specimens showed no gap at the interface between ceramic and Ni-Cr wire. Conclusion: The results of this study showed that wire inserted ceramics have a high strain characteristic. However, wire inserted ceramics was not enough to use at posterior area of mouth in relation to flexural modulus and flexural strength. Therefore, we need further studies.

Design Factor Analysis of End-Effector for Oriental Melon Harvesting Robot in Greenhouse Cultivation (시설재배 참외 수확 로봇용 엔드이펙터의 설계 요인 분석)

  • Ha, Yu Shin;Kim, Tae Wook
    • Journal of Bio-Environment Control
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    • v.22 no.3
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    • pp.284-290
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    • 2013
  • This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation $W=L^a{\times}D_2^b$ with variation of the length (L) and diameter (D2) of the weight (W) of the oriental melons. As a result, it was shown that there was a correlation between a of 2.0279 and b of -0.9998 as a constant value. The average diameter of the oriental melon vine was 3.8 mm, and most vines were distributed within a radius of 5 mm from the center. The average yield value, compressive strength and hardness of the oriental melons were $36.5N/cm^2$, $185.7N/cm^2$ and $636.7N/cm^2$, respectively. The average cutting force and shear strength of the oriental melon vines were $2.87{\times}10^{-2}\;N$ and $5.60N/cm^2$, respectively. The maximum friction coefficient of the oriental melons was rubber of 0.609, followed by aluminium of 0.393, stainless steel of 0.177 and teflon of 0.079. It was considered possible to apply it to the size of the gripper and cutter, turning radius, dynamics of drive motor and selection of materials and their quality in light of the position error and safety factor according to the movement when designing end effector based on the analyzed data.

Innovative approaches to the health problems of rural Korea (한국농촌보건(韓國農村保健)의 문제점(問題點)과 개선방안(改善方案))

  • Loh, In-Kyu
    • Journal of agricultural medicine and community health
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    • v.1 no.1
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    • pp.5-9
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    • 1976
  • The categories of national health problems may be mainly divided into health promotion, problems of diseases, and population-economic problems which are indirectly related to health. Of them, the problems of diseases will be exclusively dealt with this speech. Rurality and Disease Problems There are many differences between rural and urban areas. In general, indicators of rurality are small size of towns, dispersion of the population, remoteness from urban centers, inadequacy of public transportation, poor communication, inadequate sanitation, poor housing, poverty, little education lack of health personnels and facilities, and in-accessibility to health services. The influence of such conditions creates, directly or indirectly, many problems of diseases in the rural areas. Those art the occurrence of preventable diseases, deterioration and prolongation of illness due to loss of chance to get early treatment, decreased or prolonged labour force loss, unnecessary death, doubling of medical cost, and economic loss. Some Considerations of Innovative Approach The followings art some considerations of innovative approaches to the problems of diseases in the rural Korea. 1. It would be essential goal of the innovative approaches that the damage and economic loss due to diseases will be maintained to minimum level by minimizing the absolute amount of the diseases, and by moderating the fee for medical cares. The goal of the minimization of the disease amount may be achieved by preventive services and early treatment, and the goal of moderating the medical fee may be achieved by lowering the prime cost and by adjusting the medical fees to reasonable level. 2. Community health service or community medicine will be adopted as a innovative means to disease problems. In this case, a community is defined as an unit area where supply and utilization of primary service activities can be accomplished within a day. The essential nature o the community health service should be such activities as health promotion, preventive measures, medical care, and rehabilitation performing efficiently through the organized efforts of the residents in a community. Each service activity should cover all members of the residents in a community in its plan and performance. The cooperation of the community peoples in one of the essential elements for success of the service program, The motivations of their cooperative mood may be activated through several ways: when the participation of the residents in service program of especially the direct participation of organized cooperation of the area leaders art achieved through a means of health education: when the residents get actual experience of having received the benefit of good quality services; and when the health personnels being armed with an idealism that they art working in the areas to help health problems of the residents, maintain good human relationships with them. For the success of a community health service program, a personnel who is in charge of leadership and has an able, a sincere and a steady characters seems to be required in a community. The government should lead and support the community health service programs of the nation under the basis of results appeared in the demonstrative programs so as to be carried out the programs efficiently. Moss of the health problems may be treated properly in the community levels through suitable community health service programs but there might be some problems which art beyond their abilities to be dealt with. To solve such problems each community health service program should be under the referral systems which are connected with health centers, hospitals, and so forth. 3. An approach should be intensively groped to have a physician in each community. The shortage of physicians in rural areas is world-wide problem and so is the Korean situation. In the past the government has initiated a system of area-limited physician, coercion, and a small scale of scholarship program with unsatisfactory results. But there might be ways of achieving the goal by intervice, broadened, and continuous approaches. There will be several ways of approach to motivate the physicians to be settled in a rural community. They are, for examples, to expos the students to the community health service programs during training, to be run community health service programs by every health or medical schools and other main medical facilities, communication activities and advertisement, desire of community peoples to invite a physician, scholarship program, payment of satisfactory level, fulfilment of military obligation in case of a future draft, economic growth and development of rural communities, sufficiency of health and medical facilities, provision of proper medical care system, coercion, and so forth. And, hopefully, more useful reference data on the motivations may be available when a survey be conducted to the physicians who are presently engaging in the rural community levels. 4. In communities where the availability of a physician is difficult, a trial to use physician extenders, under certain conditions, may be considered. The reason is that it would be beneficial for the health of the residents to give them the remedies of primary medical care through the extenders rather than to leave their medical problems out of management. The followings are the conditions to be considered when the physician extenders are used: their positions will be prescribed as a temporary one instead of permanent one so as to allow easy replacement of the position with a physician applicant; the extender will be under periodic direction and supervision of a physician, and also referral channel will be provided: legal constraints will be placed upon the extenders primary care practice, and the physician extenders will used only under the public medical care system. 5. For the balanced health care delivery, a greater investment to the rural areas is needed to compensate weak points of a rurality. The characteristics of a rurality has been already mentioned. The objective of balanced service for rural communities to level up that of urban areas will be hard to achieve without greater efforts and supports. For example, rural communities need mobile powers more than urban areas, communication network is extremely necessary at health delivery facilities in rural areas as well as the need of urban areas, health and medical facilities in rural areas should be provided more substantially than those of urban areas to minimize, in a sense, the amount of patient consultation and request of laboratory specimens through referral system of which procedures are more troublesome in rural areas, and more intensive control measures against communicable diseases are needed in rural areas where greater numbers of cases are occurred under the poor sanitary conditions.

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