• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.420-425
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• 2008

PMMA light guiding plate with nano-sized pattern was fabricated using anodized aluminum oxide membrane as a template for nano imprint lithography. Nano-sized pore arrays were prepared by the self-organization processes of the anodic oxidation using the aluminum plate with 99.999% purity. Since the aluminum plate has a rough surface, the aluminum plate with thickness of 1mm was anodized after the pre-treatments of chemical polishing, and electrochemical polishing. The surface morphology of the alumina obtained by the first anodization process was controlled by the concentration of electrochemical solution during the first anodization. The surface morphology of the alumina was also changed according to temperature of the solution during chemical polishing performed after first anodization. The pore widening process was employed for obtaining the one-channel with flat surface and height of the channel because the pores of the alumina membrane prepared by the fixed voltage method shows the structure of two-channel with rough surface. It is shown from SPM results that the nano-sized pattern on PMMA light guiding plate fabricated by nano imprint lithography method was well transferred from that of anodized aluminum oxide template.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.6 s.123
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• pp.507-514
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• 2007

This paper reports on the research which investigates acoustic signals acquired in turning with rough and finish simultaneously. The material is aluminum thin pipe. Two acousto-ultrasonic sensors were set on the finish and the rough bite of the CNC machine. It was first evaluated that one source was affected by the other. It was found that two signals were little affected each other, and that the acoustic signal from the finish bite was more related to the surface defects. Signals from the finish bite only were then analyzed in order to observe several types of surface defects. Second the fundamental experiments were accomplished to study the effects of machine vibration and material state. The signal characteristics due to surface defects were studied from the collected acoustic signals. The analysis was based on real time data, root mean squared average and frequency spectrum by fast fourier transform. As a result, the acoustic signals were made effects by machine condition, material structure. The acoustic signal from the finish bite was closely correlated with surface quality. Two types surface micro defects were then evaluated by the signal characteristics.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.32 no.4
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• pp.348-351
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• 2006

Purpose The purpose of this study was to evaluate the success rate of dental implant on post-traumatic region to rehabilitate missing teeth. Patients and Methods 5 patients who had been treated due to maxillofacial trauma during 2000 to 2004 at samsung medical center were selected for this study. 22 dental implants were installed to them for restoring missing teeth. The success rate of these dental implants was evaluated with criteria by T. Albrektsson. We divided installed 22 implants into 2 categories. One category consisted rough surface implants group and smooth surface implants group. And the other category consisted more healing group and less healing group. The healing time was calculated from point of trauma. Results The success rate of dental implants is 68.2% that is lower than other studies because of poor vascularity of bone bed and mechanical stress according to trauma. Rough surface implants group and More healing group showed superior success rate to others. (P < 0.05). Conclusion We found that to increase success rate, it may need rough surface implants and longer healing period.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.6
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• pp.723-730
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• 2012

The radar cross section(RCS) of a trihedral corner reflector(TCR) should be accurately computed when it is used as an external calibration target for a satellite synthetic aperture radar(SAR) calibration campaign. This paper presents the RCS analysis on a trihedral corner reflector which is installed on a calibration site, using the wave reflection from the rough surface and the wave diffraction from the TCR edges. The results in this paper show quantitatively the effect of the front surface on the RCS of a TCR. The difference of the RCS between a TCR in air and a TCR on a ground surface is computed by including the interaction term which consists of the edge diffraction from the TCR edges and the surface reflection from the front rough surface. The reflection coefficient of a randomly rough surface is a function of the surface roughness and dielectric constant of the surface. The RCS of $10{\lambda}$ size TCR on a ground is 0.46 dB higher than TCR in air at 9.65 GHz, and this can reach at maximum 1.55 dB depending on a surface condition and TCR size. The effect of the front surface on the RCS of a TCR increases, as the surface roughness decreases, the soil moisture increases, and the size of TCR in wavelength decreases.

• Journal of Periodontal and Implant Science
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• v.35 no.4
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• pp.921-937
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• 2005

Mechanical and chemical methods are the two ways to treat the implant surfaces. By using mechanical method, it is difficult to eliminate bacteria and by-products from the rough implant surface and it can also cause the structural change to the implant surface. Therefore, chemical method is widely used in order to preserve and detoxicate the implant surface more effectively. The purpose of this study is to evaluate the effect of tetracylcline- HCl on the change of implant surface microstructure according to application time. Implants with pure titanium machined surface, SLA surface and $TiO_2blasted$ surface were used in this study. Implant surface was rubbed with sponge soaked in 50mg/ml tetracycline - HCl solution for $\frac{1}{2}$ min., 1min., $1\frac{1}{2}$ min., 2 min., and $2\frac{1}{2}min.$ respectively in the test group and with no treatment in the control group. The sponge was soaked in every 30 seconds. Then, the specimens were processed for scanning electron microscopic observation. Based upon the analysis of photographs by three dentists who are not related with this study, the results were obtained as follows; 1. In the pure titanium machined surfaces, the control specimen showed a more or less rough machined surface composed of alternating positive and negative lines corresponding to grooves and ridges. After treatment, machining line was more pronounced for the control specimens. but in general, test specimens were similar to control. 2. In the SLA surfaces, the control specimen showed that the macro roughness was achieved by large-grit sandblasting. Subsequently, the acid-etching process created the micro roughness, which thus was superimposed on the macro roughness. Irrespective of the application time of 50mg/ml tetracycline - HCl solution, in general, test specimens were similar to control. 3. In the $TiO_2blasted$ surfaces, the control specimen showed the rough surface With small pits. The irregularity of the $TiO_2blasted$ surfaces with 50mg/ml tetracycline - HCl solution was lessened and the flattened areas got wider after 1 minute.

• Journal of the Korean Society of Safety
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• v.9 no.3
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• pp.34-40
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• 1994

It is important to have exact informations on the real contact mechanism between spheres and rough plates under various normal loads, sphere diameters and combined surface roughnesses. Most previous papers have proposed the questions of the errors which might be incurred when the Hertzian theory is used to calculated the contact deformation and the contact pressure of practical higher pair. So, this study investigates the real contact deformation between a rough sphere and a rough plate by three experimental methods far from any assumptions and theorems. The soot coating method among them is used successfully. Accordingly, this study presents the simple dimensionless parameter to predict such errors to occur in the design of high pair members and to govern the real mechanism of two-body higher pair.

• Tribology and Lubricants
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• v.14 no.1
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• pp.54-63
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• 1998

In many practical lubricated contacts such as a rough concentrated contact on the sliding of nominally flat surfaces, the fluid may be of molecular (nanometer) scale owing to the asperity interactions on the surfaces. Under this condition, there is insufficient lubricant on the concentrated contact spot to maintain a realistic continuum. Rheological behavior for this kind of concentrated contact has been studied extensively to know whether the application of viscous fluid model is appropriate. The interaction of two rough surfaces is simplified as perfectly flat-rough surfaces contact under certain conditions by "composite topography" and for a nanometer scale fluid film, three kinds of rheological fluid behavior are analyzed in elastohydrodynamic asperity point contact.t contact.

• Geomechanics and Engineering
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• v.12 no.6
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• pp.899-917
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• 2017

Sixty four tests were performed in a steel tank to investigate the axial responses of piles driven into organic soil prepared at two different densities using a drop hammer. Four different pile materials were used: wood, steel, smooth concrete, and rough concrete, with different length to diameter ratios. The results of the load tests showed that the shaft load capacity of rough concrete piles continuously increased with pile settlement. In contrast, the others pile types reached the ultimate shaft resistance at a settlement equal to about 10% of the pile diameter. The ratios of base to shaft capacities of the piles were found to vary with the length to diameter ratio, surface roughness, and the density of the organic soil. The ultimate unit shaft resistance of the rough concrete pile was always greater than that of other piles irrespective of soil condition and pile length. However, the ultimate base resistance of all piles was approximately close to each other.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1997.10a
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• pp.173-182
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• 1997

In many practical lubricated contacts such as a rough concentrated contact on the sliding of nominally flat surfaces, the fluid may be of molecular (nanometer) scale owing to the asperity interactions on the surfaces. Under this condition, there is insufficient lubricant on the concentrated contact spot to maintain a realistic continuum. Rheological behavior for this kind of concentrated contact was studied to know whether the application of viscous fluid model is appropriate. The interaction of two rough surfaces is simplified as perfectly flat-rough surfaces contact under certain conditions by "composite topography" and for a nanometer scale fluid film, three kinds of rheological fluid behavior are analyzed in elastohydrodynamic asperity point contact.t contact.