• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.205-207
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• 2006

Since a humanoid robot inherently suffers from instability and always risks tipping itself over, or topping to the ground, it is necessary to ensure high stability and reliability of walk. An unexpected ground condition is one of the principal factors of instability. This paper proposes a walk stabilization method consisting of a Fuzzy algorithm and geometry under uneven terrain. The ground reaction forces that are measured by the FSR sensors on the sole are used to check the ground condition and the robot posture. The effectiveness of proposed method is verified by computer simulations.

• Tribology and Lubricants
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• v.21 no.1
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• pp.39-45
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• 2005

Investigation of the mass effect on the journal traces in the clearance of engine bearing has been performed for better design of mass distribution of crank system components such as crank pin, piston, con-rod, balance weight, crank throw weight, etc. as well as for better oil reaction behaviors to the applied forces from the cylinder pressures on the bearing. In this preliminary study, crank pin traces in the engine bearing clearance are computed by varying the equivalent magnitude of crank pin mass that includes the masses of crank pin, piston, con-rod. etc.. while most previous studies regarding journal traces in the bearing clearance neglect the inertia effects of crank pin mass. Although the inertia effect of pill mass is negligibly small compared to viscous force by ${\pi}bearing$ theory, it is found that it gives a great amount of influences on the journal traces in full bearing computation $(2\pi\;bearing\;theory)$ under the dynamic loading conditions.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.17 no.8
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• pp.812-822
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• 2004

This paper shows that carbon nanotubes can be applied to a nanopipette. Nano space in atomic force microscope multi-wall carbon nanotube tips is filled with molecules and atoms with charges and then, the tips can be applied to nanopipette when the encapsulated media flow off under applying electrostatic forces. Since the nano space inside the tips can be refilled, the tips can be permanently used in ideal conditions of no chemical reaction and no mechanical deformation. Molecular dynamics simulations for nanopipette applications demonstrated the possibility of nano-lithography or single-metallofullerene-transistor array fabrication.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.749-752
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• 1996

A computer program was developed for the static analusis of a bridge expansion joint mechanism, which is called lazy-tong joint. I t was modelled as a plane truss and statically determinate structure under the assumption of small expansion in bridge girder. The applied load was assumed as a maxium wheel load exerted by a 40th tandem axied tractor-semitrailer truck. By using the developed computer program, reaction forces, axial and bending stresses, deflections, and critical buckling load, etc. of each structural member were analyzed. And they showed good agreement with those analyzed by the comercial F.E.M S/W, ANSYS.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.610-618
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• 2001

Pantograph, which collects current from cartenary system, is one of the important parts of high-speed train. Kinematic analysis is one of the key technologies for pantograph design and includes joint trajectories, reaction forces, and the required moment of main shaft calculations. The kinematic analysis, however, is very complex and time-consuming process. In this study PC based pantograph kinematic analysis software using graphical user interface tool was developed for the easy evaluations of kinematic characteristics necessary in pantograph design process.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.262-271
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• 2004

Hydropneumatic suspension unit is an important part of tracked vehicles to absorb external impact load exerted from the non-paved road and the cannon discharge. Its absorption performance is strongly influenced by both damping and spring forces of the unit. In this paper, we numerically analyze the damping characteristics of the in-arm-type hydropneumatic suspension unit (ISU) by considering four distinct dynamic modes of the ISU damper: jounce-loading, jounce-unloading, rebound-loading and rebound-unloading. The flow rate coefficients determining the oil flow rate through the damper orifice are decided with the help of independent experiments. The wheel reaction force, the flow rate at cracking and the damping energy are parametrically investigated with respect to the orifice diameter and the wheel motion frequency.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.11
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• pp.85-91
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• 2009

A lip seal is widely used not only to prevent leakage of fluids from an actuator or a rotating shaft but also to exclude outside substances. Recently, TPU(Thermoplastic Polyurethane), which is one of the sealing materials, has been frequently used due to its excellent mechanical properties and wear resistance. The material constants for finite element analysis through the experiment on stress relaxation are presented. The reaction forces of a shaft as well as the contact pressures of a lip seal under condition before and after stress relaxation using finite element analysis were obtained, The results show that stress relaxation has not a little effect on the performance of a lip seal.

• Journal of Industrial Technology
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• v.16
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• Proceedings of the KSR Conference
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• 2001.10a
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• pp.287-292
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• 2001

Static behaviors of railway plate girder bridges designed by the L-22, a standard load type of the railway specification in Korea, are evaluated by widely eight load cases. The load cases are three real loads, which contain three locomotive types of Saemaul PMC, diesel, and Korea Train Express(KTX), and three design loads, L-22, L-18, and HL-25 loads, in railway specification. Plate girders for analysis have the length of spans of six types：6m, 9m, 12m, 22m, 24m, and 30m. For analysis SAP2000n ,a commercial FEM tool, is used. Dominant axial load types are taken from these results that are maximum deflections, reaction forces, and absolute maximum bending moment in girders.

• 한국지구물리탐사학회:학술대회논문집
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• 2003.11a
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• pp.103-108
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• 2003

In the construction of mountain tunnels, reaction forces of the legs of steel arch supports against the ground are often expected to support the ground being excavated. In these cases, a stress concentration occurs in the ground directly under the support legs. If the bearing capacity of the ground is insufficient or displacement is not effectively constrained, the local failure of the ground under the support legs or settlement of the tunnel supports due to large deformation could result. It is therefore necessary to reinforce the support legs to reduce settlement. As a means of reducing settlement, wing-ribbed steel arch supports are well used. In this study, with the aim of finding a way to quickly reduce the settlement of steel arch support legs, effectiveness of a new type of wing ribs to reinforce steel arch supports was investigated through laboratory testing.