• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.484-489
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• 2011

Some patients can't use their hands because of inherent and acquired paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a cylinder which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the cylinder. A cylindrical-type finger force measuring system which can measure the grasping force of patients' fingers should be developed. This paper looks at the development of a cylindrical-type finger force measuring system with two-axis force/moment sensor which can measure grasping force. The two-axis force/moment sensor was designed and fabricated, and the high-speed force measuring device was designed and manufactured by using DSP (digital signal processing). Also, cylindrical-type finger force measuring system was developed using the developed two-axis force/moment sensor and the high-speed force measuring device, and the grasping force tests of men were performed using the developed system. The tests confirm that the average finger forces of right and left hands for men were about 186N and 172N respectively.

• 한국정밀공학회지
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• 제12권2호
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• pp.87-96
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• 1995

The cutting force is the most important variable to understand the mechanics of ultra-precision machining. Most dynamometers, however, monitor the static cutting force only. But it is necessary to measure the dynamic cutting force to clarify the machinability of the material, the formation of the chip, chatter and the wear of the tool. In this research, measurement of the dynamic cutting force in order to clarify the machin-ability of the material, the formation of the chip, chatter and the wear of the tool has been conducted. A combined-type dynamometer which could measure the static cutting force and the dynamic cutting force by use of strain gauges and a piezo-film accelerometer has been developed. An analysis of the dynamometer also has been carried out.

• 한국정밀공학회지
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• 제27권11호
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• pp.37-45
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• 2010

Stroke patients can't use their hands because of the paralysis of their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the spherical object measuring system which can measure the force of their fingers should be developed. In this paper, the finger-force measuring system with a six-axis force/moment sensor which can measure the spherical-object grasping force is developed. The six-axis force/moment sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (digital signal processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the average force of men was about 120N.

• 센서학회지
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• 제19권5호
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• pp.349-355
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• 2010

Stroke patients, etc. can't use their hands because of the paralysis of their fingers, and their fingers could be recovered by rehabilitating training. In order to judge the rehabilitating extent of their fingers, the patients should grasp a cylindrical object in hospital. At present, the used object in hospital is only a cylindrical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the four-finger force measuring system which can measure the force of their fingers should be developed. In this paper, four-finger force measuring system with four force sensors which can measure the grasping force is developed. The force sensors are designed and fabricated, and the force measuring device is designed and manufactured by using DSP(digital signal processing). Also, the grasping force test of men is performed by using the developed four-finger force measuring system. It was confirmed that the finger average force of right hand is about 214.6 N and that of left hand is about 212.8 N.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.660-663
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• 1997

In recent manufacturing process, the increase of productivity is required by reducing machining time with the increase of cutting force. However, the excessive increase of cutting force can cause tool breakage, and have a bad effect on both the manufacturing machine and the workpiece. Thus, it is necessary to estimate and control cutting force in real time during the process. In this study, use of disturbance observer is proposed for the indirect cutting force estimation. The estimated cutting force is used for the real time control of feedrate, making the actual cutting force follow the reference force command. Since the suggested method does not need an expensive sensor like a dynamometer, the method is expected to be used practically. By reducing the machining time resulting from making the actual cutting force follow the reference force, the increase of productivity are also expected, and the quality of cutting surface has been improved due to the adjusted feedrate. Besides, an actual constant cutting force guarantees the prevention of tool breakage. To show the effectiveness of the suggested cutting force control method, an experimental setup has been made without the force sensor, applied to several workpieces. Experiments show that the suggested method is superior to the conventional method operated by constant feedrate.

• 센서학회지
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• 제19권3호
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• pp.238-245
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• 2010

Stroke patients can't use their hands because of the paralysis of their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the object used in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the spherical object measuring system which can measure the force of their fingers should be developed. In this paper, the finger-force measuring system with a three-axis force sensor which can measure the spherical-object grasping force is developed. The three-axis force sensor is designed and fabricated, and the force measuring device is designed and manufactured using DSP(digital signal processing). Also, the grasping force test of men is performed using the developed finger-force measuring system, it was confirmed that the average force of men was about 120 N.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.294-306
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• 2019

On the basis of the Computational Fluid Dynamics technique (CFD) combined with the overlap grid method, this paper establishes a numerical simulation method to study the problem of ice-propeller interaction in viscous flow and carries out a simulation forecast of the hydrodynamic performance of an ice-class propeller and flow characteristics when in the proximity of milling-shape ice (i.e., an ice block with a groove cut by a high-speed revolving propeller). We use a trimmed mesh in the entire calculation domain and use the overlap grid method to transfer information between the domains of propeller rotation calculation and ice-surface computing. The grid is refined in the narrow gap between the ice and propeller to ensure the accuracy of the flow field. Comparison with the results of the experiment reveals that the error of the hydrodynamic performance is within 5%. This confirms the feasibility of the calculation method. In this paper, we calculate the exciting force of the propeller, analyze the time domain of the exciting force, and obtain the curve of the frequency domain using a Fourier transform of the time-domain curve of the exciting force. The existence of milling-shape ice before the propeller can greatly disturb the wake flow field. Unlike in open water, the propeller bearing capacity shows a downward trend in three stages, and fluctuating pressure is more disordered near the ice.

• 한국자기공명학회논문지
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• 제26권1호
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• pp.1-9
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• 2022

There are two distinct approaches to improving the quality of protein NMR structures during refinement: all-atom force fields and accumulated knowledge-assisted methods that include Rosetta. Mao et al. reported that, for 40 proteins, Rosetta increased the accuracies of their NMR-determined structures with respect to the X-ray crystal structures (Mao et al., J. Am. Chem. Soc. 136, 1893 (2014)). In this study, we calculated 32 structures of those studied by Mao et al. using all-atom force field and implicit solvent model, and we compared the results with those obtained from Rosetta. For a single protein, using only the experimental NOE-derived distances and backbone torsion angle restraints, 20 of the lowest energy structures were extracted as an ensemble from 100 generated structures. Restrained simulated annealing by molecular dynamics simulation searched conformational spaces with a total time step of 1-ns. The use of GPU-accelerated AMBER code allowed the calculations to be completed in hours using a single GPU computer-even for proteins larger than 20 kDa. Remarkably, statistical analyses indicated that the structures determined in this way showed overall higher accuracies to their X-ray structures compared to those refined by Rosetta (p-value < 0.01). Our data demonstrate the capability of sophisticated atomistic force fields in refining NMR structures, particularly when they are coupled with the latest GPU-based calculations. The straightforwardness of the protocol allows its use to be extended to all NMR structures.

• 한국자동차공학회논문집
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• 제7권5호
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• pp.154-161
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• 1999

An elastomeric bushing is a device used in automotive suspension systems to cushion the force transmitted from the wheel to the frame of the vehicle. A bushing is an elastomeric hollow cylinder which is bonded to a solid metal shaft at its inner surface and a metal sleeve at its outer suface. The relation between the force applied to the shaft or sleeve and their relative deformation is nolinear and exhibits features of viscoelasticity. Numerical solutions of the boundary value problem represent the exact bushing response for use in the method for determining the force relaxation function of the bushing. The new nonlinear viscoelastic bushing model, which is called Pipkin-Rogers model, is proposed and it is shown that the predictions of the proposed force-displacement relation are in very good agreement with the exact results. This new bushing model is thus very suitable for use in multi-body dynamics codes. The success of the present study for axial mode response suggests that the same approach be applied to other modes, such as torsional or radial modes.

• 한국정밀공학회지
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• 제31권2호
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• pp.157-164
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• 2014

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.