• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.308-310
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• 1994

Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.2
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• pp.232-240
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• 1998

This paper deals with a hybrid position/force control of a robot which is moving on the constrained object with constant force. The proposed controller is composed of a position and force controller. The position controller has a nonlinear compensator which is based on the dynamic robot model and the force controller is attached by feedforward element. A direct drive robot with hard nonlinearity which is controlled by the proposed algorithm has moved on the constrained object with a high stiffness and low stiffness. The results show that the proposed controller has more vibration suppression effects which is occurred to the constrained object with a high stiffness, than a existing feedback controller, and accurate force control can be obtained by comparatively a small feedback gain.

• Journal of Mechanical Science and Technology
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• v.20 no.6
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• pp.748-758
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• 2006

In this paper, we have revisited the estimation of the rotational stiffness of sidewall of radial tire and have suggested a new method for evaluation of the rotational stiffness. Since thicknesses, and volume fractions of the constituents of sidewall are varied depending on radial position, the equivalent shear modulus of the sidewall also depends on radial position. For the estimation of rotational stiffness of sidewall's rubber, we have divided its cross-section into sufficient numbers of small parts and have calculated the equivalent shear modulus of each part of sidewall. Using the shear moduli of divided parts, we have obtained the rotational stiffness by employing in-plane shear deformation theory. This method is expected to be a useful tool in tire design since it relates such basic variables to the global stillness of tire. Applying the calculation method to a radial tire of P205/60R15, we have compared its rotational stiffness with experimental one.

• Journal of the Architectural Institute of Korea Structure & Construction
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• v.35 no.9
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• pp.183-190
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• 2019

This paper intended to propose the optimal outrigger position in tall building. For this purpose, a schematic structure design of 70 stories building was accomplished by using MIDAS-Gen. In this analysis research, the key variables were the stiffness of outrigger, the stiffness of frame, the stiffness of shear wall, the stiffness of exterior column connected in outrigger and the outrigger location in height. With the intention of looking for the optimum location of outrigger system in high-rise building, we investigated the lateral displacement in top floor. The study proposed the new method to predict the optimal location of outrigger system considering the frame stiffness. And it is verified that the paper results can be helpful in providing the important engineering materials for finding out the optimum outrigger position in tall building.

• Journal of the Korea Fashion and Costume Design Association
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• v.14 no.4
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• pp.127-137
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• 2012

The purpose of this study is to recognize the differences of visual evaluation by variations in width of hem line and waistline position of the flare pants. The stimuli are 9 samples: One control group, 3 variations of the width of hem line and 3 variations of the waistline position. The data has been obtained from 44 fashion students. The data has been analyzed by Factor Analysis, Anova, Scheffe's Test and the MCA method. The results of the study are as follows: The visual evaluation by the width of hem line and waistline position of flare pants are composed of 5 factors : physical characteristics, elegance, originality, comfort, and stiffness. Among these factors, the physical characteristic is evaluated to be the most important factor. As a v isual evaluation result o f changes in the width o f hern l ine, 8 4 cm in width (the narrowest width) was highly evaluated in physical characteristics, elegance, and originality factors. For the result of changes in the waistline position, high-waisted flare pants were highly effective in physical characteristics, and also evaluated well in elegance, originality and stiffness factors. The flare pants did not show any interaction between the width of hem line and waistline position. The waistline position had more influence on visual evaluation in physical characteristics, originality and comfort factors while elegance and stiffness factors were affected by the width of hem line.

• Journal of the Korea Fashion and Costume Design Association
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• v.16 no.1
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• pp.15-25
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• 2014

The purpose of this study is to recognize the differences of visual evaluation by variations in width of hem line and waistline position of the bell buttom pants. The stimuli are 9 samples: One control group, 3 variations of the width of hem line and 3 variations of the waistline position. The data has been obtained from 56 fashion students. The data has been analyzed by Factor Analysis, Anova, Scheffe's Test and the MCA method. The results of the study are as follows: The visual evaluation by the width of hem line and waistline position of bell buttom pants are composed of 5 factors : comfort, personality, physical characteristics, stiffness and modern. Among these factors, the comfort is evaluated to be the most important factor. As a visual evaluation result of changes in the width of hern line, 62cm in width (the narrowest width) was highly evaluated in comfort and stiffness factors, 78cm in width (the widest width) was highly evaluated in personality and physical characteristics factors. For the result of changes in the waistline position, high-waisted bell buttom pants were was highly evaluated in personality and stiffness factors, low-waisted bell buttom pants were was highly evaluated in comfort, physical characteristics and modern factors. The width of hem line and waistline position of the bell buttom pants interacted to the comfort factor. The width of hem line had more influence on visual evaluation in personality factors while physical characteristics, stiffness and modern factors were affected by the waistline position.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1496-1502
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• 1994

The influences of spring position and spring stiffness on the critical force of a cantilevered beam subjected to a follower force are investigated. The spring attatched to the beam is assumed to be a translational one and can be located at arbitrary positions of the beam as it has not been assumed so far. The effects of transeverse shear deformation and rotary intertia of the beam are also included in this analysis. The charateristic equation for the system is derived and a finite element model of the beam using local coordinates is formulated through extended Hamilton's principle. It is found that when the spring is located at position less than that of 0.5L, the flutter type instability only exists. It is shown that the spring position approaches to the free end of the beam from its midpoint, instability type is changed from flutter to divergence through the jump phenomina according to the increase of spring stiffness.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.560-563
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• 1997

The conventional impedance control has been known to have the following problems: it has lack of specifying force directly and unknown environment stiffness has to be known priori in order to specify the reference trajectory. In this paper, new impedance force control that can control a desired force directly under unknown stiffness is proposed. A new nonlinear impedance function is developed based on estimation of unknown stiffness from force and position measurements. The nonlinear characteristics of the proposed impedance function are analyzed based on unknown environment position. Simulation studies with robot manipulator are carried out to test analytical results.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1997.04a
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• pp.91-100
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• 1997

In this paper the linearzed stiffness and damping coefficients of tilting pad thrust bearing are calculated by the perturbation method. The coefficients are obtained for a wide range of pivot positions. The effects of exciting frequency and pad mass on stiffness and damping coefficients are investigated. Critical frequencies due to the tilting motions of the pad are presented and are shown to be strongly influenced by the pivot position and pad mass.

• Tribology and Lubricants
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• v.13 no.3
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• pp.33-41
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• 1997

In this paper the linearized stiffness and damping coefficients of tilting pad thrust bearing are calculated by the perturbation method. The coefficients are obtained for a wide range of pivot positions. The effects of exciting frequency and pad mass on stiffness and damping coefficients are investigated. Critical frequencies due to the tilting motions of the pad are presented and are shown to be strongly influenced by the pivot position and the pad mass.