• 한국정밀공학회지
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• 제28권10호
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• pp.1181-1188
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• 2011

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

• Structural Engineering and Mechanics
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• 제15권1호
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• pp.1-19
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• 2003

This paper presents the formulation of a new bridge-vehicle system with validation using the field data. Both pitching and twisting modes of the vehicle are considered in the contribution of the dynamic effects in the bridge responses. A heavy vehicle was hired as a control vehicle with known axle weight, axle spacing and spring coefficients. The measured responses were generated from the control vehicle running at a particular speed at a test span at Ma Tau Wai Flyover. The measured responses were acquired using strain gauges installed beneath the girder beams of the test bridge. The simulated responses were generated using BRVEAN that is a self-developed program based on the proposed bridge-vehicle system. The validation shows that the bridge model is valid for representing the test bridge and the governing equations are valid for representing the motion of moving vehicles.

• Bulletin of the Korean Chemical Society
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• 제22권9호
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• pp.948-952
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• 2001

Periodic mesoporous organosilicas with rope-based morphology from a reaction gel composition of 1 BTME : 0.57 ODTMABr : 2.36 NaOH : 353 H2O were synthesized. While long rope-shaped product dominated in case of static synthesis condition , gyroid type products instead of rope shaped product appeared and rope shaped product disappeared with agitation. PMO with such a long rope shaped morphology is firstly reported. Additionally, various rope-based morphologies depending on the degree of bending, twisting, folding and winding of rope such as spirals, discoids, toroids, and worm-like aggregates were observed. White powdered products were characterized by X-ray diffraction, N2 sorption measurement, SEM and TEM. From XRD pattern and TEM image, ODTMA-PMO with hexagonal symmetry was identified. The pore diameter and BET surface area of ODTMA-PMO are $32.9{\AA}$ and 799 m2g-1 , respectively. Hexagonally arrayed channels run with long axis of rope and rope-based shapes with various degree of curvature, which was elucidated by using TEM images.

• International journal of advanced smart convergence
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• 제4권1호
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• pp.99-103
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• 2015

Quake wavelength technique was designed of the sway by the body. There was presented a concept of the dangle wavelength by twisting condition of posture. We compared to the twisting condition for an average variation and maximum variation with the movement. There was used a combination system and correlation system of the posture. Their correlation signal was presented a control data by the dynamic movement. The quake wavelength system was to be formation of activity aspects by posture. The correlation of wavelength technique was applied to the a little action of posture variation signal. Quake wavelength by the dynamic movement was determined to a variation of vision condition of the $Vi-{\alpha}_{AVG}$ with $(-1.27){\pm}(-0.34)$ units, that vestibular condition of the $Ve-{\alpha}_{AVG}$ with $(-0.49){\pm}(-0.4)$ units, that somatosensory condition of the $So-{\alpha}_{AVG}$ with $0.037{\pm}0.269$ units, that CNS condition of the $C-{\alpha}_{AVG}$ with $(-0.049){\pm}0.015$ units. As the study of the quake wavelength technique was depended on the action system of body movement that a maximum and averag values was used a movement of combination data. The system was required an action signal for the form of actual signal on the basis of a little movement condition in the body. The human action systemwas compared to maximum and average from the movement derived the body. Therefore, their system was controlled to evaluate posture condition for the body correlation.

• 한국직업건강간호학회지
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• 제7권2호
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• pp.130-135
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• 1998

To investigate the working characteristics of the workers by place of duty, a study was carried out among 591 male workers aged 20-55 employed in an automobile industry in Korea. Workers participated to this study were divided into low back pain(LBP) and control group, according to the self-reports by written questionnaires. Work factors and complaint rates of low back pain were compared to the work places. The results were as follows ; 1) The complaint rates of low back pain were 49.2%(292 men) as a whole, 58.6%(34 men) in Production Control Department I, 50.2%(120 men) in Stamping Tool Department, 46.9%(138 men) in Bus Department. 2) Lifting and earring work of individual workers were directly associated with low back pain. Frequency of lifting and carring work is higher in the Final Body Section(Production Dept. I) and Body I Section(Bus Dept.). 3) LBP group were more frequently involved in working in awkward position(Quality Control Section of Stamping Tool Dept.), bending(Body I Section of Bus Dept.) and twisting posture(Sash Section and Body I Section of Bus Dept.). 4 )Workers exposed to vibration during working shows the higher complaint rate of low back pain.

• 로봇학회논문지
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• 제12권4호
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• 한국정밀공학회지
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• 제13권12호
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• pp.136-141
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• 1996

In this paper, the design variables of the extruded parts involving flat die through model experiment are investigated to overcome some current problems such as bending and twisting and get more improved quality products. Above all, the deformation behavior is analyzed in experiment and investigated flow charactristics inside container. Finally, the straight extruded product is obtained by modified bearing land width on the basis of the exit velocities distribution from bended and twisted products.

• Wind and Structures
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• 제32권3호
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• pp.267-281
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• 2021

Bending-twisting coupling induced in big composite wind turbine blades is one of the passive control mechanisms which is exploited to mitigate loads incurred due to deformation of the blades. In the present study, flutter characteristics of bend-twist coupled blades, designed for load alleviation in wind turbine systems, are investigated by time-domain analysis. For this purpose, a baseline full GFRP blade, a bend-twist coupled full GFRP blade, and a hybrid GFRP and CFRP bend-twist coupled blade is designed for load reduction purpose for a 5 MW wind turbine model that is set up in the wind turbine multi-body dynamic code PHATAS. For the study of flutter characteristics of the blades, an over-speed analysis of the wind turbine system is performed without using any blade control and applying slowly increasing wind velocity. A detailed procedure of obtaining the flutter wind and rotational speeds from the time responses of the rotational speed of the rotor, flapwise and torsional deformation of the blade tip, and angle of attack and lift coefficient of the tip section of the blade is explained. Results show that flutter wind and rotational speeds of bend-twist coupled blades are lower than the flutter wind and rotational speeds of the baseline blade mainly due to the kinematic coupling between the bending and torsional deformation in bend-twist coupled blades.

• 한국표면공학회지
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• 제56권5호
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• pp.309-319
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• 2023

Non-woven fabric is a textile product made by spinning thermoplastic polymers without manufacturing processes such as stretching, doubling, twisting, weaving, and knitting to form a sheet-shaped web in which fibers are tangled with each other, and then combining them by mechanical and physical methods. In addition, the non-woven fabric manufacturing process has various raw material choices, high productivity, so it is a textile manufacturing technology that can have various uses and increase added value. This study was conducted to control the shape and physical properties of products by improving the manufacturing method of melt-blown non-woven fabrics using process technology that easily changes the shape of non-woven fabrics and improves mechanical properties. In particular, it is considered that a non-woven fabric with a thin material shape and improved mechanical properties will be easily applied to a continuous secondary battery manufacturing industry such as roll to roll operation.

• 전력전자학회논문지
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• 제16권5호
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• pp.503-510
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• 2011

본 논문에서는 기설계된 풍력발전제어시스템의 최적화에 관한 연구로서, 특히 블레이드 피치제어기 및 발전기 토크 제어기의 제어 변수 튜닝 (Tuning) 기법을 제안하고자 한다. 일반적으로 제어기 설계는 간략화된 수학적 모델을 기반으로 이루어지고 실제 적용시 설계단계에서 고려하지 않았거나 수학적 표현이 불가능한 불확실성을 제어 시스템에 반영하기 위하여 반복적인 시험 단계가 필요하다. 본 논문에서는 풍력발전시스템 비선형 시뮬레이션 소프트웨어와 최적화 기법을 이용하여, 풍력발전기의 로터 회전 속도 변화, 발전기 출력 변동, 동력 전달축 비틀림 진동을 최소화하기 위한 제어기 튜닝 절차 및 결과를 제시하고자 한다. 제어기 기본 설계안과 최적화된 최종 설계안의 비교를 통하여 방법의 타당성을 예시하였다.