• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 춘계학술대회 논문집
• /
• pp.982-986
• /
• 2000

Perpendicular guideway mechanism has a different behavior with horizontal guideway mechanism due to the slider weight. So, to decrease its weight effect, counter balances such as weight type and hydraulic cylinder type are used. But it can also make another motion behavior by weight rate of slider and counter balance, its connected position. Therefore, it is necessary to find design parameters and analyze their effect. This paper dealt with the optimal design of perpendicular guideway mechanism. For analysis, the theoretic model as same as real machine tool and sib plate to adjust the clearance was used. Rotational angle and displacement of slider, pressure distribution, friction distribution were calculated. Stick slip, intermittent motion of slider according to friction change was adapted to the perpendicular guideway mechanism.

• 무역학회지
• /
• 제41권5호
• /
• pp.113-138
• /
• 2016

본 연구는 결제통화로서의 위안화 연구의 한계를 극복하기 위하여 한중 통상과정에서 위안화를 결제통화로 확대할 경우 발생할 수 있는 영향력을 몬테카를로 시뮬레이션을 통해 분석하였다. 일차적으로는 현시 환율과 동일한 확률분포로 위안화 환율이 발현되었을 경우 위안화의 사용비율이 한화전환 결제통화수지에 미치는 영향력을 분석하였다. 이와 더불어 위안화 환율이 현시 환율변동성 이상의 비정상성 행보를 보였을 경우의 영향력을 분석하였다. 본 연구로 발견된 주요 결과는 다음과 같다. 첫째, 위안화 활용비율과 무관하게 현시 환율과 동일한 확률분포로 위안화 환율이 발현될 경우, 달러화나 위안화의 환율과 환율변동성의 확대는 한화전환 결제통화수지를 상승시키는 기제로 작용한다. 둘째, 달러화의 환율변동성은 평균적으로는 한화전환 결제통화수지에 미치는 영향력은 긍정적이지만 양극화를 가중시키고, 위안화도 유사한 성향을 보이지만 달러화에 비하여 중도적이다. 셋째, 현시 변동성보다 위안화 환율변동성이 확대된 경우 결제통화로서의 위안화는 한화전환 결제통화수지 규모를 하락시키므로 위안화의 환율 불확실성의 확대여부를 주목해야 한다. 특히 위안화 환율변동성은 한계효과를 보이고 있어 2배수 내에서 변동성의 부정적 효과가 극대화 된다. 마지막으로 위안화 환율변동성과 사용비율이 미치는 영향력은 강세스프레드와 유사한 경향을 보여 기업이 영업이익 극대화를 위한 전략적 도구로 사용될 수 있다.

• 한국지능시스템학회논문지
• /
• 제16권5호
• /
• pp.601-607
• /
• 2006

본 논문은 칼만필터를 이용한 ZMP의 다음 상태 예측을 통한 새로운 이족로봇의 균형제어기법을 제안한다. 일반적으로 이족로봇의 동역학 모델은 3D-LIPM(3D-Linear Inverted Pendulum Mode)에 의해 수학적으로 근사화되지만, 이는 로봇의 동역학적 특성을 완벽하게 표현할 수 없다. 이족로봇의 안정성은 ZMP(Zero Moment Point) 위치가 안정영역에 존재하는 경우에 안정성이 보장된다. 그리고 로봇 구조와 그 모델 사이의 내재된 오차는 로봇의 안정성에 영향을 끼칠 수 있다. 그러므로 본 논문에서 제안하는 균형제어기법은 내부 오차를 줄일 수 있으며, 적절한 로봇의 제어가 가능하다. 제안된 균형제어기법의 실험은 다양한 상황을 포함한 가상의 공간상에서 모의실험 되었다.

• 센서학회지
• /
• 제29권5호
• /
• pp.336-341
• /
• 2020

The deflection and null balance methods are used for precision force measurement in the precision industry. Since both methods are based on deformation, the performance of the load cell mechanism is important. In this study, the design variables were obtained via the free body diagram of a lever-linked Roberval mechanism (combined with a flexible hinge link and a Roberval mechanism), and the design characteristics were analyzed according to the weight method. Based on the design characteristics, the optimal design was conducted according to the weight method and FEM was used to verify its reliability.

• 로봇학회논문지
• /
• 제12권1호
• /
• pp.11-18
• /
• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• The Korean Journal of Physiology
• /
• 제24권1호
• /
• pp.123-129
• /
• 1990

A comparative study of acid-base balance has been made between acidemia-induced hyperkalemia and hyperkalemia-induced acidemia. A group of rabbits was infused 0.1 N hydrochloric acid solution and metabolic acidosis was induced. Another group was administered 20 mM potassium chloride solution and hyperkalemia was induced. The third group was infused 0.1 N hydrochloric acid and 20 mM potassium chloride solution, simultaneously. Acid-base data and plasma potassium ion concentration were monitored every thirty minutes in these three groups of rabbits. Following results were obtained: 1 ) Along with the infusion of hydrochloric acid, acute metabolic acidosis was induced in the rabbits. Plasma bicarbonate ion concentration decreased primarily in this group. As a respiratory compensation, there was a tendency of reduction of arterial $Pco_{2}$. The alteration of data became larger along with the amount of administration and the time elapsed. However, hyperkalemia was not so severe compared with the second group. 2) In potassium chloride infused group, plasma potassium ion concentration increased along with the time elapsed and the amount of infusion. And the alteration of acid-base data was parrallel to the level of potassium ion concentration, above all depression of pH was prominent. 3) Above data suggest that when acute metabolic acidosis was induced, exchange of intracellular potassium ion with extracellular hydrogen ion seems significant for the regulation of extracellular acid-base balance. And when hyperkalemia was induced with the infusion of potassium chloride solution, the exchange of intracellular hydrogen ion with extracellular potassium ion also seems significant for the regulation of extracellular potassium balance. 4) In the group of rabbits infused hydrochloric acid and potassium simultaneously, disturbances of acid-base balance and potassium balance were much more severe than two other groups. In these mixed disturbances, the process of compensatory mechanism might be inhibited and one disturbance might aggregate each other. 5) Through above data it has been postulated that in acid-base disturbance potassium balance can be sacrificed as a compensatory mechanism, and vice versa in disturbance of potassium balance. And our data also suggest that hydrogen ion and potassium ion are compensatory pair, one another.

• 대한인간공학회지
• /
• 제18권3호
• /
• pp.141-152
• /
• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• 한국기계가공학회지
• /
• 제11권1호
• /
• pp.7-12
• /
• 2012

Chemical mechanical polishing(CMP) technology is faced with the challenge of processing new electronic materials. This paper focuses on the balance between chemical and mechanical reactions in the CMP process that is required to cope with a variety of electronic materials. The material properties were classified into the following categories: easy to abrade(ETA), difficult to abrade(DTA), easy to react(ETR) and difficult to react(DTR). The chemical and mechanical balance for the representative ETA-ETR, DTA-ETR, ETA-DTR and DTA-DTR materials was considered for defect-free surfaces. This paper suggests the suitable polishing methods and examples for each electronic material.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
• /
• pp.951-956
• /
• 2011

As the evaluation of loading characteristic on tilting mechanism is the most important one of the function test of tilting mechanism, the changing characteristic of load must be investigated on tilting of carbody for both the static and running condition of train. In this study, we reduced the load of tilting mechanism by adjusting the interface of carbody and bogie such as the weight balance, level of underframe, height of leveling valve, height of axle box and center position of tilting actuator with the characteristic curve of load for optimal condition of the tilting mechanism obtained in the previous study. Furthermore, the factor and effect of the interfacial structures respecting the load of tilting mechanism was evaluated by analyzing the changing characteristic of load obtained in the process of adjustment of interfaces. From these data, we will propose the maintenance standards for interfacial structures and tilting mechanism in order to minimize the load of tilting mechanism by analyzing in detail the characteristic of load for the main factors of the interfacial structure effecting on the load of tilting mechanism.

• 한국수자원학회논문집
• /
• 제48권3호
• /
• pp.233-243
• /
• 2015

이군집 응집현상은 수자원환경에서 점착성 유사가 결합-해체의 과정을 통해 응집핵-응집체의 이군집 입자크기분포 (Biomodal Floc Size Distribution)를 형성하는 일련의 과정을 의미한다. 본 연구는 저난류 및 고난류 두 가지 조건에서 수행한 응집-침전관 실험결과를 바탕으로 이군집 응집모형(TCPBE: Two Class Population Balance Equation)의 적용성을 단일군집 응집모형(SCPBE: Single Class Population Balance Equation) 및 다군집 응집모형(MCPBE: Multi Class Population Balance Equation)과 비교 평가하였다. 기존 SCPBE에 비하여, TCPBE는 응집핵-응집체의 상호작용 및 침강속도차에 따른 응집 기작을 모의할 수 있었다. 또한, 3개의 연립미분방정식을 가진 TCPBE는 30개 미분방정식을 가진 다군집 응집모형(MCPBE: Multi Class Population Balance Equation)과 대등한 모의 결과를 나타내었다. 따라서 TCPBE는 이군집 응집현상을 모의 할 수 있는 가장 단순한 모델로 검증되었고, 향후 수자원환경이나 수처리 공정에 다양하게 적용할 수 있으리라 판단된다.