• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.507-507
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• 2000

In this paper, a kind of limit cycle of an inverted pendulum system is discussed. We propose a stabilization control law for such a limit cycle of an inverted pendulum system that the pendulum rotates periodically. Besides, the stabilization control law is extended so as to ensure not only stability of the limit cycle but also an L$_2$-gain disturbance attenuation in the presence of modeling error and viscosity friction.

• 한국지반환경공학회 논문집
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• 제18권2호
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• pp.29-37
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• 2017

집중호우로 인하여 산악지반에 발생하는 토석류의 거동은 대상지반 세립분의 전단강도 및 유변학적 특성들에 의하여 영향을 받기 때문에, 두 특성에 대한 정수는 토석류 거동을 파악하는데 매우 중요한 요소이다. 본 연구에서는 직접전단 실험을 통하여 세립분의 전단강도 및 유변학적 정수를 평가하고자 하였다. 건조상태와 액성한계상태로 조성된 두 가지 세립분 시료에 대하여 직접 전단실험을 수행하였으며, 연직응력에 따른 전단강도를 측정하여 점착력과 내부마찰각을 산정하였다. 또한 액성한계로 조성된 시료의 잔류전단강도를 획득하기 위하여 전단변형률속도와 전단방향을 변화시켜 반복전단실험을 수행하였다. 실험 결과, 액성한계상태의 시료는 건조 상태 시료에 비해 내부마찰각은 작지만 점착력은 더 큰 것으로 나타났으며, 잔류전단강도를 통해 산정한 내부마찰각과 점착력은 첨두전단강도에 의해 산정된 결과보다 작은 것으로 나타났다. 반복전단 결과, 전단변형률속도와 잔류전단강도는 선형적인 관계를 보였으며, 전단변형률속도-잔류전단강도 관계의 기울기로써 결정되는 점성은 약 $73.60Pa{\cdot}s$로 산정되었다. 본 연구는 직접전단 장비가 산악지반 토석류 거동과 관련된 세립분의 전단강도 및 유변학적 정수 산정에 효과적으로 활용될 수 있음을 보여준다.

• 한국콘텐츠학회논문지
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• 제15권1호
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• pp.324-330
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• 2015

초음파 전파 매개물은 초음파의 손실 없는 투과력을 위한 1차적인 목적 이외에 피부위에서 탐촉소자의 부드러운 이동을 위한 부가적인 목적이 있다. 본 연구는 진단용 초음파의 고분자 수화젤, 에멀전, 오일젤의 제형이 다른 초음파 전파매개물이 갖는 피부 윤활성, 피부 보습성, 건조속도 등의 초음파 매개물의 특징을 측정하여 이미 상용화 된 기성품과 비교하였다. 마찰계수는 고점도 에멀전에서 가장 높았으며 저점도 에멀전에서는 고분자 수화젤의 평균 마찰계수와 큰 차이를 보이지 않았다. 제제의 건조속도는 고분자 수화젤이 가장 높았으며 오일 함유량이 많을수록 수분증발이 나타나지 않았다. 피부수분함량에서는 저점도 에멀전이 높은 수분함량을 나타냈으며 수분함량 감소 정도가 가장 완만히 나타났다. 오일성분을 적절히 사용한 에멀전 형태의 초음파 전파매개물은 피부 보습효과, 피부 유연작용의 피부 건강측면과 피부-탐촉소자간의 피부 윤활성면에서 효과적인 제형임을 알 수 있었다.

• 드라이브 ㆍ 컨트롤
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• 제18권4호
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• pp.77-83
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• 2021

With the progress in virtual reality technology, various virtual objects can be displayed using head-mounted displays (HMD). However, force feedback sensations such as pushing against a virtual object are not possible with an HMD only. Focusing on force feedback, desktop-type devices are generally used, but the user cannot move in a virtual space because such devices are fixed on a desk. With a wearable force feedback device, users can move around while experiencing force feedback. Therefore, the authors have developed a wearable force feedback device using a magnetorheological fluid clutch and pneumatic rubber artificial muscle, aiming at presenting the elasticity, friction, and viscosity of an object. To date, we have developed a wearable four-degree-of-freedom (4-DOF) force feedback device and have quantitatively evaluated that it can present commanded elastic, frictional, and viscous forces to the end effector. However, sensory evaluation with a human has not been performed. In this paper, therefore, we conduct a sensory evaluation of the proposed method. In the experiment, frictional and viscous forces are rendered in a virtual space using a 4-DOF force feedback device. Subjects are asked to answer questions on a 1- to 7-point scale, from 1 (not at all) to 4 (neither) to 7 (strongly). The Wilcoxon signed rank test was used for all data, and answer 4 (neither) was used as compared standard data. The experimental results confirmed that the user could feel the presence or absence of viscous and frictional forces. However, the magnitude of those forces was not sensed correctly.

• Tribology and Lubricants
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• 제39권1호
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• pp.21-27
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• 2023

Surface texturing is widely applied to friction surfaces of various machine elements. Most of the theoretical studies have focused on isothermal (ISO) analyses which consider constant lubricant viscosity. However, there have been limited studies on the effect of oil temperature increase owing to viscous shear. Following the first part of the present study that investigated the effects of film-temperature boundary condition (FTBC) and groove number on the thermohydrodynamic (THD) lubrication characteristics of a surface-textured parallel thrust bearing with multiple rectangular grooves, this study focuses on the effect of groove depths. Current study numerically analyzes the continuity, Navier-Stokes, and energy equations with temperature-viscosity-density relations using a commercial computational fluid dynamics (CFD) software, FLUENT. The results of variation in temperature, velocity, and pressure distributions as well as load-carrying capacity (LCC) and friction force indicate that groove depth and FTBC significantly influence the temperature distribution and pressure generation. The LCC is maximum near the groove depth at which the vortex starts, smaller than the ISO result. For intense grooves, the LCC of THD may be larger than that from ISO. The frictional force decreases as the groove becomes deeper, and decreases more significantly in the case of THD. The study shows that groove depth significantly influences the THD lubrication characteristics of surface-textured parallel thrust bearings.

• Journal of Acupuncture Research
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• 제30권5호
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• pp.87-94
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• 2013

Objectives : In this study, we intended to make the foundation of the development of acupuncture tissue model as comparing the needle sensation of six kinds of tissue models and Zusanli ($ST_{36}$) with the needle force measurement system. Methods : When practitioners did twisting-rotating acupuncture needle manipulation after inserting the needle into six kinds of tissue models, they quantified the similarity sense to the sensation of Zusanli ($ST_{36}$) with the NRS (Numeric Rating scale). As needle force measurement system did twisting-rotating Acupuncture needle manipulation after inserting needle into Zusanli ($ST_{36}$) of human and six kinds of tissue models, it can calculate the coefficient of viscosity by measuring the torsion friction. We compare the NRS of practitioners' needle sensation to the coefficient of viscosity of needle force measurement systems. Result : As practitioners' NRS assessment to quantify needle sensation, apple and cucumber showed 70% similarity to Zusanli ($ST_{36}$). As needle force measurement system's coefficient of viscosity, apple and cucumber's coefficient of viscosity were similar to Zusanli ($ST_{36}$)'s. Conclusions : In this study, We compared the practitioners' needle sensation of Zusanli ($ST_{36}$) and six kinds of tissue models with needle force measurement system that can quantify the needle sensation. As the result, we concluded that practitioners' needle sensation is similar to measured needle sensation. It seems that the acupuncture practice model implementing the needle sensation to specific acupuncture points can be built based on the system in this study.

• Tribology and Lubricants
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• 제33권6호
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• pp.269-274
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• 2017

Currently, fuel efficiency becomes one of critical issues for automotive industries as concerns about environmental and energy problems grow. In an automatic transmission of an automobile, a drag torque due to a viscous drag of a fluid between friction and clutch plates is one of factors that degrade fuel economy. In this work, the drag torque characteristics of a wet clutch was experimentally investigated with respect to rotational speed, temperature of automatic transmission fluid (ATF), and gap between friction and clutch plates. The experimental results showed that drag torque increases to a certain level, and then decrease to the steady state value with increasing rotational speed. This behavior may be associated with two-phase flow of air and ATF at gap between friction and clutch plates. Also, it was found that the maximum drag torque value decreased as ATF viscosity decreases with increasing temperature. However, it was shown that the point at which the maximum drag torque occurs was not significantly affected by the ATF temperature. In addition, maximum drag torque was found to decrease as the gap between friction and clutch plates increased from 0.1 mm to 0.2 mm. Furthermore, it was observed that the generation of maximum drag torque was delayed as the gap increased. The outcomes of this work are expected to be helpful to gain a better understanding of drag torque characteristic of a wet clutch, and may therefore be useful in the design of wet clutch systems with improved performance.

• Corrosion Science and Technology
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• 제7권5호
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• pp.283-287
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• 2008

The drag reduction agency (DRA) for gas pipeline, a novel method used for reducing friction or drag on a gas flowing to increase the transmission efficiency of gas pipeline, is a more flexible and economical technology than internal flow efficient coatings. In this paper, an effective DRA has been developed in Authors' Institute by analyzing the hydrodynamic friction resistance on internal gas pipeline and then studying the work mechanism and molecular structure of DRA. In the meantime, a group of property test for selecting DRA material has been determined, including viscosity, contact angle, volatility, corrosion, slab extending, and flow behavior in horizontal tube. The inhibition efficiency and drag reduction efficiency of the developed DRA have been investigated finally based on the relevant test methods. Results of corrosion test show that the developed DRA has very good inhibition effect on mild steel by brushing a thin layer of DRA on steel specimens, giving inhibition efficiency of 91.2% and 73.1% in 3%NaCl solution and standard salt fog environment respectively. Results of drag-reducing test also show that the Colebrook formula could be used to calculate friction factors on internal pipes with DRA as the Reynolds number is in the range of $0.75\times10^5\sim2.0\times10^5$. By comparing with normal industrial pipes, the friction resistance coefficient of the steel pipe with DRA on internal wall decreases by 13% and the gas flux increases by 7.3% in testing condition with Reynolds number of $2.0\times10^5$.

• 한국산학기술학회논문지
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• 제20권12호
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• pp.513-518
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• 2019

마찰교반용접(Friction Stir Welding) 기술은 금속 소재를 대상으로 하는 용접기술 중의 하나로 용접대상이 되는 소재와 고속으로 회전하는 용접툴 사이의 마찰로 인한 열을 활용하여 소재의 융점 이하 온도에서 접합하는 기술이다. 이번 연구에서는 마찰교반용접을 진행할 때, 용접 대상물의 내부 온도 변화를 분석하기 위한 방법으로 수치해석기법을 사용하였다. 용접소재로는 마그네슘 합금인 AZ31을 고려하였으며, 용접현상을 멜팅풀(melting-pool)이 생성되는 유동특성으로 간주하고 유동해석을 수행하기 위해 유동특성 수치해석 툴인 FLUENT를 이용하였다. 용접과정의 유동해석을 진행하기 위해 용접소재는 고점도 뉴턴 유체로 가정하였고, 용접툴과 용접대상 소재의 경계면은 마찰 및 미끄러짐이 동시에 발생하는 조건으로 경계조건을 선정하였다. 그리고 용접툴의 회전속도 및 용접속도를 변수로 하여 다양한 해석을 진행하였다. 해석 결과로부터 용접툴의 회전속도가 높을수록, 용접속도가 느릴수록 소재 내 최고온도가 증가함을 확인할 수 있었으며, 그 중 용접툴의 회전속도 차이가 온도 변화에 더 큰 영향을 보임을 확인하였다.

• 한국산학기술학회논문지
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• 제18권12호
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• pp.679-684
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• 2017

마찰 교반 용접(Friction Stir Welding)은 금속 소재 대상으로 용접 툴과 용접 재료의 마찰열을 이용하여 재료 융점 이하의 온도에서 접합하는 용접 기법이다. 이번 연구에서는 금속 접합시 쓰이는 마찰 교반 용접 기법을 활용하여 마그네슘 합금(AZ31)을 용접할 때, 용접시 발생하는 용접 대상인 마그네슘 합금의 온도 및 속도 변화에 대해 유동 해석 기법을 활용하여 분석하였다. 분석을 위해 유동 해석 툴인 플루언트를 활용하여 모델링 및 해석을 진행하였다. 먼저 용접 소재는 온도에 따라 변하는 고점도 뉴턴 유체로 가정하였으며, 나선형 홈이 있는 용접 툴의 회전에 의한 회전 유동 발생을 모사하기 위해 회전 영역과 정지 영역으로 구분하여 모사하였다. 용접 툴과 용접 재료 사이의 인터페이스는 마찰 및 미끄러짐 경계조건을 부여하여 용접 툴로의 열전달 효과를 고려하였다. 위의 유동 해석 모델링을 통한 과도 해석 결과로부터 시간의 변화에 따른 용접 소재의 속도와 온도 특성을 파악할 수 있었다.