• Macromolecular Research
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• v.15 no.7
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• pp.688-692
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• 2007

The hydrogen-bonding induced alternating multilayer thin films of dendrimers and block copolymer micelles were demonstrated. The block copolymer micelles derived from amphiphilic poly(2-ethyl-2-oxazoline)block-$poly({\varepsilon}-carprolactone)$ (PEtOz-PCL) in aqueous phase have a core-shell structure with a mean hydrodynamic diameter of 26 nm. The hydrogen bonding between the PEtOz outer shell of micelle and the carboxyl unit of poly(amidoamine) dendrimer of generation 4.5 (PAMAM-4.5G) at pH 3 was utilized as a driving force for the layerby-layer alternating deposition. The multilayer thin film was fabricated on the poly(methyl methacrylate) (PMMA) thin film spin-coated on silicon wafer or glass substrate by the alternate dipping of PEtOz-PCL micelles and PAMAM dendrimers in aqueous solution at pH 3. The formation of multilayer thin film was characterized by using ellipsometry, UV-vis spectroscopy, and atomic force microscopy. The PEtOz outer shell of PEtOz-PCL micelle provided the pH-responsive hydrogen bonding sites with peripheral carboxylic acids of PAM AM dendrimer. The multilayer thin film was reversibly removed after dipping in aqueous solution at $pH{\geq}5.6$ due to dissociation of the hydrogen bonding between PEtOz shell of PEtOz-PCL micelle and peripheral carboxyl units of PAMAM dendrimer.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.1B
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• pp.83-90
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• 2009

This study describes the characteristics of distribution of lift-force acting under pier deck through physical experiment. The shape of peak wave pressure was sharp when compressed air existed but was not sharp without that. Values of lift-force was different between edge point and center point in the same block. Distribution of lift-force was expressed differently owing to dimensionless of deck length (l/L), wave steepness (H/L), clearance height per wave height (D/H). The dimensionless factor of D/H affected on the lift-force the clearance between still water surface and decks. This decided the maximum of lift-force. In the case of the same values of D/H, the lift-force are changed by the wave steepness (H/L). Because (D/H) become smaller as the wave steepness (H/L) is increased the height of decks must be decided with the condition which don't have the clearance with $D_{max}$ for the stable design of deck of pier. Effect of reducing lift force was greater in the on-shore than the off-shore according to compressed air existence. This researches points out that design of deck should retain compressed air in order to reduce wave lift force.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.40 no.1
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• pp.43-49
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• 2020

In this study, the stability of the low crested structure armoured by Tripod block has been investigated using two-dimensional hydraulic model tests. The effect of wave steepness and freeboard on the rock stability on crest, front, and the rear slope has been investigated. From the experimental data, the new empirical formula for the stability coefficients of the Tripod block was proposed. But Tripod is not proper to use the armour block of the low crested structure because the uplift force of this block is greater than that of Tetrapod and rock.

• Wind and Structures
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• v.30 no.5
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• pp.485-497
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• 2020

A study, using potential water wave theory, is conducted on the oblique water wave motion over two fixed submerged rectangular blocks (breakwaters) placed over a finite step bottom. We have considered infinite and semi-infinite fluid domains. In both domains, the Fourier expansion method is employed to obtain the velocity potentials explicitly in terms of the infinite Fourier series. The unknown coefficients appearing in the velocity potentials are determined by the eigenfunction expansion matching method at the interfaces. The derived velocity potentials are used to compute the hydrodynamic horizontal and vertical forces acting on the submerged blocks for different values of block thickness, gap spacing between the two blocks, and submergence depth of the upper block from the mean free surface. In addition, the wave load on the vertical wall is computed in the case of the semi-infinite fluid domain for different values of blocks width and the incident wave angle. It is observed that the amplitudes of hydrodynamic forces are negligible for larger values of the wavenumber. Furthermore, the upper block experiences a higher hydrodynamic force than the lower block, regardless of the gap spacing, submergence depth, and block thickness.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.362-362
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• 2000

The purpose of this thesis is to reduce force ripple of linear pulse motor(LPM) using neural network and to enhance precision. In order to this, we propose a new controller using a neural network to compensate disturbances. The structure includes adaptation block which learns the dynamics of the periodic disturbance and forces the interferences, caused by disturbances. The proposed controller compensates an unmodeled dynamics in the LPM. The neural network changes a current command to reduce position error and force ripple of the LPM. We compare proposed controller with PI controller. Simulation result shows that the proposed controller has better performance than a PI controller without neural network.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.5
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• pp.67-76
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• 1997

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezo-electric bimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilevers with a force sensor at the tip and the finger is a solid beam. The robotic finger is used to hold the objects with different stiffness such as an iron block and a living insect and a moving objcet. So it is very important to develop an adequate controller for the holding operation of the finger. The main problems in force controlling are overdamping, overshoot and unknown environment(such as the stiffness of object and unknown plant parameters). So, the main target is propose the new fuzzy compensation for unknown environment and incease the system performance. The fuzzy compensation is implemented by using PI-type fuzzy approach to identified unknown environment. And the result of proposed controller was compared with the conventaional PID and optimal controller.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1147-1152
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• 2014

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

• Journal of computational fluids engineering
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• v.17 no.3
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• pp.18-24
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• 2012

The aerodynamic performance of the pantograph on a high speed train was compared for different pantograph covers which are designed to block the aero-acoustic noise from the pantograph. For the study, two types of cover are designed: wedge and cone types. The lift force of pantograph with cover was compared with the force of pantograph only. The comparison clarified that the cone type cover increases the sideslip angle of the flow and decreases the lift force considerably. However, the wedge type cover changes the flow direction upward and increases the lift force of the pan head. This increment of lift force compensates the decrement of lift force caused by the blocking of the flow into the pantograph lower frame due to cover. Therefore, in case of the wedge type cover, the overall lift force changes slightly compared with the cone type cover.

• Magazine of the Korea Concrete Institute
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• v.11 no.1
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• pp.149-160
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• 1999

This paper is a part of a research aimed at the verification of basic design rules of high-strength concrete columns. A total of 32 column specimens were tested to investigate structural behavior and strength of eccentrically loaded reinforced concrete tied columns. Main variables included in this test program were concrete compressive strength. steel amount, eccentricity, and slenderness ratio. The concrete compressive strength varied from 356 kg/$cm^2$ to 951 kg/$cm^2$ and the longitudinal steel ratios were between 1.13 % and 5.51 %. Test results of column sectional strength are compared with the results of analyses by ACI rectangular stress block, trapezoidal stress block, and modified rectangular stress block. Axial force-moment-curvature analysis is also performed for predicting axial load-moment strength and compared with the test results. The ACI rectangular stress block provides over-estimated column strengths for the lightly reinforced high strength column specimens. The calculated strengths by moment-curvature analyses are highly affected by $k_3$ values of the concrete stress-strain curve. Observed failure mode. concrete ultimate strain, and stress block parameters are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.434-437
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• 2004

This paper presents the development of a new climbing mechanism for inter-block welding in Shipbuilding. The climbing mechanism is that it is career type of robot that can pass over block interval for welding of interblock in shipbuilding. The point part of mechanism is that move ballscrew. The Ballscrew`s capacity account and dynamic analysis of leg part are achieved through this paper. Force and torque analysis were achieved by simulation. This can have strong point in side of cost-cutting and welding amount of work than existent method.