• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.71-76
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• 2017

The roll damping problem in the design of ships and offshore structures remains a challenge to many researchers due to the fluid viscosity and nonlinearity of the phenomenon itself. In this paper, the study on viscous roll damping of a circular cylinder was carried out using forced oscillations. The roll moment generated by forced oscillation using a torque sensor was measured for each forced oscillation period and compared with the empirical formula. Although the magnitude of the measured torque from the shear force was relatively small, the results were qualitatively similar to those obtained from the empirical formula, and showed good agreement with the quantitative results in some oscillation periods. In addition, the flow around the circular cylinder wall was observed closely through the PIV measurements. Owing to the fluid viscosity, a boundary layer was formed near the wall of the circular cylinder, and a minute wave was generated by periodical forced oscillations at the free surface through the PIV measurement. In this study, the suitability of the empirical formula for the roll moment caused by viscous roll damping was verified by model tests. The wave making phenomenon due to the fluid viscosity around the wall of a circular cylinder was testified by PIV measurements.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.73-80
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• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• Journal of Biomedical Engineering Research
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• v.24 no.4
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• pp.309-318
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• 2003

In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2005.11a
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• pp.339-347
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• 2005

A type IP-2 transport package should prevent a loss or dispersal of the radioactive contents and a more than $20\%$ increase in the maximum radiation level at any external surface of the package when it were subjected to the drop test under the normal conditions of transport. If a shielding thickness of IP-2 transport package is thick, a bolted lid type may prevent a loss or dispersal of the radioactive contents than the door type of ISO containers which are generally used as a type IP-2 transport package. In this paper, to evaluate the effect of drop directions on the bolt tension and the coherence of a bolt, the drop tests of preliminary small model are tested and evaluated for seven directions before the drop test of a type IP-2 transport package with a bolted lid type under the normal conditions of transport. Seven drop directions which are a bottom-vertical drop, a lid-vortical drop. a horizontal drop and four corner drops have been carried out. Using a force sensor, the bolt tension during the drop impact is measured. The coherence of bolt is evaluated by the difference between the fastening torque of bolt before a drop test and the unfastening torque of bolt after a drop impact.