• 한국정밀공학회지
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• 제21권12호
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• pp.140-145
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• 2004

In this study, the design and analysis of a butterfly valve disk was performed to minimize the rubbing between the disk and the seat at opening and closing. The butterfly valve has double eccentric structure and the contact surface between the disk and the seat is a conical surface. At the instant of opening and closing the valve by the rotation of disk, the positions of zero contact point are changed. Also, if the cone surface is cut in the perpendicular direction to the rotation axis of the valve, the contour of cutting section is hyperbolic. Therefore minimum distance between the origin of the eccentric axis and the hyperbolic curve goes to the position of zero contact point. In order to consider the interferences between the disk and the seat, the thermal-structure coupled field analysis was performed by ANSYS.

• 한국생산제조학회지
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• 제8권2호
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• pp.73-79
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• 1999

Most of mechanical structures are combined of substructures such as beams and/or plates. There are few systems with unibody structures but are many systems with united body structures. Generally the dynamic a nalysis of whole structures is performed under alternation load. In the structure design, the analysis of each bolted joint is more important than others for zero severity. This paper presents the analysis method of contact stress distribution factor in the bolted joint with variable fastening torque on joints in the structure. At first, a static vibration test was performed to find out a nominal stress of bolt jointed plates from the relationship between natural frequency and nominal stress. Then a contact stress was computed at contact point between bolt and plate in the structure. It is believed that the proposed method has promisiong implications for safer design with index of contact stress distribution factor and has merits for cost-down and saving time at the beginning of vehicle development.

• 대한기계학회논문집A
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• 제22권3호
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• pp.519-528
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• 1998

A numerical method is presented for the dynamic analysis of cam and follower. Contact and separation between the cam and the follower are analyzed by imposing dynamic contact condition. The correct solution is obtained without spurious oscillation by imposing the velocity and acceleration constraints as well as the displacement constraint on the possible contact point. The constraints are satisfied by iteratively reducing the constraint errors toward zero, and a simple time integration of ordinary differential equation is employed for the solution of the equation of motion. The solution procedure associated with the iterative scheme is presented, and numerical simulations are conducted to demonstrate the accuracy of the solution.

• 한국전기전자재료학회논문지
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• 제15권5호
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• pp.460-467
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• 2002

This paper deals with the distribution characteristics of the current density and axial magnetic flux density on the vacuum interrupter with axial magnetic field type using 3 dimension finite element analysis. An axial magnetic field parallel to the current flow in the arc column can improve the current breaking capacity of vacuum interrupter by affecting the arc mode. The axial magnetic flux density on the contact electrode surface is analyzed by inputting external current as a function of the transient time for sine half wave. And it also is analyzed within the gap distance of the contact electrode. The peak value of current but is decreased with the descending current on the contact electrode surface and within the gap distance of the contact electrode. The residual magnetic field is generated on the contact electrode surface and within the gap distance in the instant of zero current, which is due to the influence of eddy currents. The phase shift due to eddy currents, defined as time difference between the maximum value of current and axial magnetic field, is about 1ms in the center point of gap distance.

• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.298-303
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• 1998

Most of mechanical structures are combined of substructures such as beam and/or plates. There are few system with unibody structures but are not a few systems with united body structures. Generally the dynamic analysis of whole structures is perform ed under alternating load. However, the analysis of each joint area is more important than others for zero severity. This paper presents the results of analysis of concentration stress in bolt jointed structure with variable preload. At frist, a static vibration test was performed to find out a nominal stress of bolt joint ed plates from the relationship between natural frequency and nominal stress. Then a concentration stress was computed at contact point between bolt and plate in the structure. It is believed that the proposed method has promising implications for safer design with fatigue quality index of stress concentration factor and has merit for cost down and saving time at the beginning of vehicle development.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.561-565
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• 2000

This paper deals with dynamic walking and inverse dynamic analysis of the IWR biped walking robot. The system has nine bodies of the multibody dynamics. and all of the .joints of them are made up of the revolute joints at first. The problem of redundant constraint in double support phase is solved by changing the type of the joints considering kinematic relation. To make sure of its dynamic walking, the movement of balancing weight is determined by which satisfies not only the condition of ZMP by applying the principle of D'Alembert but also the contact condition of the ground. The modeling of IWR and dynamic walking are realized using DADS.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제51권12호
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• pp.664-669
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• 2002

In this paper the method to determine tire optimal switching instants in order to reduce the transient surges during switching not relevant to the neutral treatment of shunt reactors is presented. This method consists of the following two steps. First, the instants of the voltage peaks between the contacts of each poles and the voltage magnitude as well as the moments of the current zero crosses were found out analytically. Next, the instants of the contact touches or separations were determined in consideration of the rate of decrease of dielectric strength or a circuit breaker and the variation of the its operating time. The results obtained from the EMTP(Electromagnetic Transient Program) analysis studies show that the making instants are established at the peak voltage of each three poles for any conditions of a neutral point and the possible upper limited values of inrush currents due to the variation of the mechanical operating time can be estimated.

• Macromolecular Research
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• 제16권6호
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• pp.492-502
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• 2008

This study examined the adsorption of a synthetic cutting fluid and cutting fluid effluent on chitosan and SDS-modified chitosan, Chitosan and SDS-modified chitosan were prepared in form of beads and fibers. A series of batch experiments were carried out as a function of the initial concentration of cutting fluid, contact time and pH of the fluid. The contact angle study suggested that the SDS-modified chitosan was more hydrophobic than chitosan. The Zeta potential study showed that chitosan, SDS-modified chitosan and synthetic cutting fluid had a point of zero charge (PZC) at pH 7.8, 9 and 3.2, respectively. SDS-modified chitosan has a greater adsorption capacity than chitosan. The experimental results show that adsorption capacity of the cutting fluid on 1.0 g of SDS-modified chitosan at pH 3 and for a contact time of 120 min was approximately 2,500 g/kg. The adsorption capacity of chitosan and SDS-modified chitosan increased with decreasing pH. The Langmuir, Freundlich, and Brunauer Emmett and Teller (BET) adsorption models were used to explain the adsorption isotherm. The Langmuir isotherm fitted well with the experimental data of chitosan while the BET isotherm fitted well with the SDS-modified chitosan data. Pseudo first- and second-order kinetic models and intraparticle diffusion model were used to examine the kinetic data. The experimental data was fitted well to a pseudo second-order kinetic model. The significant uptake of cutting fluid on chitosan and SDS-modified chitosan were demonstrated by FT-IR spectroscopy, SEM and heat of combustion.