• Journal of the Semiconductor & Display Technology
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• v.9 no.1
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• pp.1-4
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• 2010

We investigated a linear carbon nanotube motor serving as the key building block for nano-scale motion control by using molecular dynamics simulations. This linear nano-motor, is based on the electrostatically telescoping multi-walled carbon-nanotube with ultralow intershell sliding friction, is controlled by the gate potential with the capacitance feedback sensing. The resonant harmonic peaks are induced by the interference between the driving frequencies and its self-frequency. The temperature is very important factor to operate this nanomotor.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1213-1220
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• 2008

In this study, the crashworthy design guidelines for the high speed EMU were derived and numerically evaluated. As for this high speed train, there are several different features from the KTX in that the conventional type bogies are adopted and the front end car (TC car) accommodates passengers. It is natural that the impact acceleration of the front end car should be controlled under the appropriate level stipulated at safety regulations for collision accidents. Also, car-to-car interfacing structures and devices should be deliberately designed to prevent overriding and telescoping mechanisms. As the first step for these design countermeasures, it was studied that how much impact energy should be absorbed at the energy absorbing zones and devices of each carbody to satisfy the impact acceleration regulations of the safety regulations. These results will be used as the crashworthy design guidelines for the high speed train in the next year research.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.448-450
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• 1998

Global competition of automotive market and affordable prices of electronic components become the major reason that automotive industries rapidly employ a large number of electric and electronic systems to improve vehicle performance and to meet various regulations such as emission, fuel efficiency, and safety. Especially, the provision of a motor-driven steering column (MDSC) for luxury vehicle is getting popular for drivers' convenience. In this study, an MDSC is developed, which provides several intelligent features such as the manual operation for tilting and telescoping the steering wheel, and the save/recall operation for three different steering wheel positions. In addition, the fault detection algorithm is developed.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.37-47
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• 1995

In recent years, it has been variously developed for testing the accuracy of circular motion of NC machine tools, for example Telescoping Ball Bar Method by Bryan, Circular test Method by Knapp and $r^{-{\theta} }$ Method by Tsutsumi etc., but these methods are all 2-dimentional measuring methods on plane. These simple methods of circular motion accuracy test of NC machine tools have been studied by many reserchers as above, but it is not yet settled in the code of measuring methods of motion errors of NC machine tools, because of errors of measuring units and sensors, and also especially the difficulties of centering of measuring units and the spindle of machining center. In this paper, in use of 2 rotary encoders and 1 magnetic type linear scale with resolution of 0.5 .mu. m, it has become possible for measuring of 3 dimentional space motion accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.12
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• pp.1011-1016
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• 2015

In a roll-to-roll continuous system, winding is one of the most important processes since it determines the quality of the final manufactured products such as flexible film and printed electronic devices. Since an adequate winding tension can reduce the incidence of the defects that are derived from the inner stress of the wound roll such as starring and telescoping, it is necessary to determine the optimal taper-tension profile. In this study, an algorithm for the setting of an optimal taper-tension profile in consideration of the residual stress in the wound roll is suggested; furthermore, the algorithm was adjusted for the determination of an optimal taper-tension profile regarding the winding process of $10{\mu}m$ polypropylene (PP) film. As a result of the algorithm-generated, optimal taper-tension profile, the residual stress and radial stress in a PP wound roll were decreased to 27.37 % and 40.05 % (mean value), respectively.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.90-95
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• 2007

Conventional bridge inspection involves the physical positioning of an inspector by the hydraulic telescoping boom of a "snooper truck" thereby providing visual access to bridge components. The process is time consuming, hazardous, and may be affected by lighting conditions, Therefore, it is of great interest that an automated and/or teleoperated inspection robot be developed to replace the manual inspection procedure. This paper describes the advanced bridge inspection robot system under development and other related activities currently undergoing at the Bridge Inspection Robot Development Interface (BIRDI). BIRDI is a research consortium with its home in the Department of Civil and Environmental System Engineering at Hanyang University at Ansan. Its primary goal is to develop advanced robot systems for bridge inspection and monitoring for immediate field application and commercialization. The research program includes research areas such as advanced inspection robot and motion control system, sensing technologies for monitoring and assessment, and integrated system for bridge maintenance. The center embraces 12 institutions, which consist of 7 universities, 2 research institutes, and 3 private enterprises. Research projects are cross-disciplinary and include experts from structural engineering, mechanical engineering, electronic and control engineering. This research project will contribute to advancement of infrastructure maintenance technology, enhancement of construction industry competitiveness, and promotion of national capacity for technology innovation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.5
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• pp.421-427
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• 2008

A robot crane truck is developed by the Bridge Inspection Robot Development Interface(BRIDI) for an automated and/or teleoperated bridge inspection. This crane truck looks similar to the conventional bucket crane, but is much smaller in size and light-weight. At the end of the telescoping boom which is 12m long, a robot platform is mounted which allows the operator to scan the bridge structure under the deck trough the camera. Boom vibration induced by wind and deck movement can cause serious problems in this scanning system. This paper presents a control system to mitigate such vibration of the robot boom. In the proposed control system, an actuator is installed at the end of the working boom. This control system is studied using a mathematical model analysis with LQ control algorithm and a scaled model test in the laboratory. The study indicates that the proposed system is efficient for the vibration control of the robot booms, thereby demonstrating its immediate applicability in the field.

• Economic and Environmental Geology
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• v.9 no.1
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• pp.27-43
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• 1976

The flourite in Hwacheon, Hwanggangri and Keumsan district are major fluorite producing areas in Korea. The fluorite deposits of Hwacheon district are wholly fissure filling hydrothermal veins embedded in Precambrian gneiss and schists and Jurassic granites. Also some fluorite deposits are emplaced in felsite whose age is unknown. Emplacement of most fluorite veins of the district are controlled by EW fracture system. Fluorites are generally accompanied to chalcedonic quartz and also kaolinite, montmorillonite, dickite and calcite in parts. Vertical and lateral mineral zonings are not distinct. The fluorite deposits in the Hwanggangri district are wholly embedded in limestone and other calcareous sediments of Paleozoic Yeongweol Group. Most of the fluorite deposits belong to one of two categories which are steeply. dipping veins and gently dipping replacement deposits adjacent to Late Cretaceous(83-90mys) granite bodies. The strikes of fluorite veins of Hwanggangri district mostly occupy the fractures of $N30^{\circ}-40^{\circ}E$ and $N30^{\circ}-40^{\circ}W$ system. Fluorites are accompanied to calcite, milky quartz, chalcedonic quartz, and also montmorillonite, kaolinite in parts. But in some deposits, scheelite, various sulfide minerals and barite are accompanied. Emplacement of fluorite deposits are largely controlled by lithology and structures of this district. In some deposits fluorite veins gradate to scheelite veins and also telescoping of the mineral zones are found in this district. In the Keumsan district, fissure-filled fluorite veins and replacement deposits are mostly emplaced in limestone of Paleozoic Yeongweol Group, late Cretaceous quartz-porphyry, granite and sandstone. Some deposits are emplaced in Precambrian metasediments. Mineralogy and other characteristics of the deposits in this district is similar to those of Hwanggangri district. Fluid inclusion studies reveal the difference of salinities, $CO_2$ contents of ore fluid and temperatures during fluorite mineral deposition in the these districts. In Hwacheon district, ore-fluids were comparatively dilute brine and low $CO_2$ content. Filling temperatures ranges $104^{\circ}C$ to $170^{\circ}C$. In the Chuncheonshinpo mine, most deeply exploited one in this district, salinitles range 0.5-2. 2wt. % NaCl and filling temperatures range from $116^{\circ}C$ to $143^{\circ}C$. In the Hwanggangri district, ore fluids were complex and filling temperature ranges very widly. In the contact metasomatic fluorite deposits, ore fluid were NaCl rich brines with moderate $CO_2$ content and filling temperatures range from $285^{\circ}C$ to above $360^{\circ}C$. Fluids inclusions in tungsten and sulfide minerals bearing fluorite veins show high $CO_2$ content up to 31wt. %. Filling temperature ranges from $101^{\circ}C$ to $310^{\circ}C$. Fluids inclusions In mainly fluorite bearing veins were more dilute brine and low $CO_2$ contents. Filling temperatures range from $95^{\circ}C$ to $312^{\circ}C$. Filling temperature of fluid inclusions of Keumsan district are between $95^{\circ}C$ and $237^{\circ}C$. Data gathered from geologic, mineralogic and fluid inclusion studies reveal that fluorite mineralization in H wacheon district proceeded at low temperature with dilute brine and low $CO_2$ content. In Hwangganri district, fluorite mineralization proceeded by several pulse of chemically distinct ore fluids and formed the mineralogically different type of deposits around cooling granite pluton which emplaced comparatively shallow depth.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.2 no.3
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• pp.189-199
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• 2004

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.