• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1361-1364
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• 2004

There is a need for fundamental understanding of biotribological characteristics of various biomaterials sliding against biological materials in order to develop a moving mechanism of medical microsystems having high energy efficiency. A special experimental equipment was designed and built to study the frictional behavior of various biomaterials sliding against a small intestine specimen of a pig. Friction experiments for six biomaterials were performed. Particularly, the effects of load and speed on frictional behavior were investigated. The results of this work will aid in the development of the actuator for a self-propelling micro-endoscope.

• Korean Journal of Materials Research
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• v.15 no.4
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• pp.224-232
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• 2005

Dry sliding wear behavior of electro-pressure sintered Fe-Ni and Co-Fe-Ni compacts was investigated. Pin-on-disk wear tests were performed on the sintered Fe-Ni, Co-Fe-Ni disk specimens against alumina $(Al_2O_3)$ and silica $(SiO_2)$ ball counterparts at various loads ranging from 3N to 12N. A constant sliding speed of 0.1m/sec was employed. Wear rate was calculated by dividing the weight loss measured after the test by specific gravity and sliding distance. Worn surfaces and cross sections of them were examined by a scanning electron microscopy, and wear mechanism of the compacts was investigated. Wear characteristics of the compacts were discussed as a function of composition of the compacts. Relationship between the wear rate and mechancial properties of the compact was explored, and effects of the oxide layer that was formed on wearing surface of the compacts on the wear were also studied.

• Geomechanics and Engineering
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• v.2 no.2
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• pp.89-106
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• 2010

Sliding within the dam foundation is one of the key failure modes of a gravity dam. A two-dimensional (2-D) physical model test has been conducted to study the sliding failure of a concrete gravity dam under overloading conditions. This model dam was instrumented with strain rosettes, linear variable displacement transformers (LVDTs), and embedded fiber Bragg grating (FBG) sensing bars. The surface and internal displacements of the dam structure and the strain distributions on the dam body were measured with high accuracy. The setup of the model with instrumentation is described and the monitoring data are presented and analyzed in this paper. The deformation process and failure mechanism of dam sliding within the rock foundation are investigated based on the test results. It is found that the horizontal displacements at the toe and heel indicate the dam stability condition. During overloading, the cracking zone in the foundation can be simplified as a triangle with gradually increased height and vertex angle.

• Journal of Powder Materials
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• v.11 no.6 s.47
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• pp.451-461
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• 2004

Dry sliding wear behavior of electro-pressure sintered Co-Fe and Co-Ni compacts was investigated. Pin-on-disk wear tests were performed on the sintered Co-Fe, Co-Ni disks against alumina $(Al_2O_3)$ and silica $(SiO_2)$ balls at various loads ranging from 3N to 12N. A constant sliding speed of 0.1m/sec was employed. Wear rate was calculated by dividing the weight loss of a specimen by the measured specific gravity and sliding dis-tance. Worn surfaces and cross-sections of the specimens were examined using an SEM and EDS to investigate wear mechanism of the compacts. The wear behavior of the compacts were discussed as a function of their com-position. Effects of mechancial properties of the compact as well as oxide layers formed on wearing surface on the wear were also discussed.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.9
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• pp.42-47
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• 2021

A one-touch descending lifeline that can easily be installed and rapidly evacuated in the event of a fire accident in high-rise buildings was proposed to overcome difficulties of conventional descending lifeline such as complex installation methods and procedures. However, this lifeline exhibits limitations such as restrictions in installation location and large apparatus size. Therefore, this paper proposes a sliding-type descending lifeline, which has a similar operation to that of current one-touch descending lifeline and solves the aforementioned limitations. A double square link mechanism including a sliding four-bar linkage is proposed and the descending lifeline support is redesigned to unfold in two different planes, allowing 3D movement. Additionally, the shape of the support frame is designed to obtain two attachment surfaces that can be attached to a wall, irrespective of the angle between the window and the inner wall. FEA analysis using ABAQUS is performed to ensure that the robustness of the presented support complies with the Fire Control Act Enforcement Decree. Finally, the feasibility of the proposed sliding one-touch descending lifeline is verified through fabrication.

• Journal of Advanced Information Technology and Convergence
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• v.8 no.2
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• pp.101-110
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• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.33-39
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• 2005

In this paper, we propose a slider servo-mechanism driven by electro-magnetic actuator to improve straightness of linear motor stages. Based on axial-position dependent deterministic characteristics of the straightness error, a feedforward compensation control is appled to reduce the straightness error. In the consideration of uncertain properties of friction and its effects on positioning accuracy, a sliding mode control is applied. The effectiveness of the suggested mechanism and the control performances are illustrated along with some experimental results.

• Tribology and Lubricants
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• v.16 no.1
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• pp.33-38
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• 2000

Abstract- In this paper tribological characteristics of solid and liquid phase sintered W/C-35%Ni tappets were investigated. Three test methods were performed to investigate the wear and surface damage mechanism of sintered tappets. First, block-on-ring wear test was performed to investigate the wear characteristics under pure sliding condition. Second, simplified cam and tappet tests (called component wear test hereafter) were carried out to simulate the real contact history of cam and tappet. Also, after the test, contact surfaces were analyzed with scanning electron microscope to study the wear mechanism. As a final screening, engine dynamo tests were performed. Results showed that in the block on ring sliding wear test, solid phase sintered specimens showed superior wear resistance to liquid phase sintered specimens. The component wear tests and engine dynamo tests also showed the same results. Therefore, in these tests, solid phase sintered tappet material revealed superior wear resistant properties to liquid phase sintered one.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2004.10a
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• pp.180-184
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• 2004

The tribological behavior of carbon epoxy composites whose surfaces have many small grooves of $100\mu m$ width was experimentally investigated with respect to the sliding direction against groove orientation, surface pressure (P) and velocity (V). The wear mechanism of the composites was observed to calculate the wear volume with respect to the friction coefficient using scanning electron microscopic (SEM). Experimental results show that the abrasive wear is dominant wear mechanism for the grooved composite surface and the friction and wear are greatly reduced when the sliding direction is parallel to the axis of groove because abrasive particles are removed through the grooves effectively.