• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.35-44
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• 1996

A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value ${\mu}$ in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.

• Fashion & Textile Research Journal
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• v.19 no.5
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• pp.602-607
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• 2017

This study was undertaken to compare the gait characteristics between the Korean elderly and young adults, we measured the plantar pressure and contact time of gait with barefoot along a walkway at their preferred walking speed. The results indicate that older people exhibited significantly less plantar pressure than young adult in all 3 regions (FF, MF and RF) and significantly less time % on the initial contact phase (ICP), forefoot push-off phase (FFPOP) and significantly more % forefoot contact phase (FFCP) and foot flat phase (FFP). The converted plantar pressure value to percentage, it showed more pressure in forefoot (FF) in the elderly person than the young adults. It could be explained that the forward shifting in plantar pressure are associated with a more flexed posture of elderly such as actual stabilizing fearrelated adaptations. Longer total foot contact time in the elderly means that the old people show the decreased gait velocity. In other words, lower velocity was found to be associated with pre-existing fear of falling. With longer contact time and slower stepping movement, the elderly become more unstable. With these findings, it could be confirmed that there were significant changes in foot characteristics which contribute to alter the plantar pressure and contact time during gait with advancing age. Further research is required to establish possible links to risk of falling and development of footwear in the elderly adults.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.67-79
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• 2003

The purpose of this study is to investigate the effective skill motion through the kinematic analysis of the Yurchenko Streched motion in new horse vaulting. The subjects in this study were 3 male gymnasts who were ranked as national athletes. After the 3D motion analysis, kinematic variables were analyzed to comparison with the difference between this study and the previous study(Yang, D. Y and Lee, C. S, 1999). As a result, the following conclusions was drawn; 1. In the board contact phase, this study showed a shorten contact time to maintain in condition highly extension of hip and hee angle than the previous study. 2. In the pre-flight phase, this study appeared more shortly flight duration time and horizontal flight displacement than the previous study. 3. In the horse contact phase, the contact duration time and horizontal displacement of COG shortened than the previous study, but appeared to the fast horizontal and vertical velocity and highly extension of shoulder an. 4. In the post-flight phase, a stable horse contact appeared to the increase of the flight duration time and the apex height during the post-flight. And it showed that these results have a stable and good landing.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.11-21
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• 2007

The purpose of this study was to examine the differences of kinematics and muscle activities depending on the changes of angle approaching balls during backhand drive in squash. The results are as follows. Stride time took the longest at AD2 and step lengths were the biggest at AD1 of left foot contact and right foot contact and AD2 of impact and follow-through. The center of gravity and the speed of racket head were the highest at AD3 and at AD2. Angle of shoulder joint were the biggest at AD1 of left foot contact, right foot contact and impact and AD3 of follow-through. Angle of elbow joint were the biggest at AD3 of left foot contact, right foot contact and follow-through and AD2 of impact. Angle of pelvis joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of knee joint were the biggest at AD2 of left foot contact, AD1 of right foot contact and AD3 of impact and follow-through. Angle of ankle joint were the biggest at AD1 of left foot contact and AD3 of right foot contact, impact and follow-through. According to the analysis results of triceps brachii, latissimus dorsi, brachioradialis muscle and flexor carpi ulnaris muscle activities were high at AD1 of all phases. Analysis results of vastus lateralis, vastus medialis, tibialis anterior and gastrocnemius medial muscle activities were high at AD2 of phase1 and phase3. Those of vastus lateralis, vastus medialis and tibialis anterior, gastrocnemius medial were high at AD3 of Phase 2 and AD1 of phase2.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.07a
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• pp.1065-1068
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• 2001

Effects of compacting pressure on the electrical and sintering characteristics of Cu25Cr contact material have been investigated. Cu25Cr contact materials were prepared by solid and liquid-phase sintering methods varying compacting pressure. Influence of compacting pressure on electrical characteristics were investigated in the cylindrical stainless-steel vessel using L-C resonant circuit. The physical and electrical properties of solid-phase sintered Cu25Cr material were found to be improved by increased compacting pressure. On the other hand, it was found that compacting pressure had little influence in case of liquid-phase sintered Cu25Cr material. After conditioning, contact resistance of Cu25Cr material was decreased regardless of compacting pressure. With increased compacting pressure, interrupting ability was shown to be increased.

• Journal of Powder Materials
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• v.5 no.1
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• pp.15-21
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• 1998

The effect of $\alpha$/$\beta$ phase on the mechanical properties and contact damage of silicon nitrides $Si_3N_4$) was investigated. Silicon nitride materials were prepared from two starting powders, at selective increasing hot-pressing temperatures to coarsen the microstructures: (i) from relatively coarse $\alpha$-phase powder, essentially equiaxed $\alpha$-$Si_3N_4$ grains, with limited, slow transformation to $\beta$-$Si_3N_4$ grain; (ii) from relatively fine $\alpha$-phase powder, a more rapid transformation to $\beta$-$Si_3N_4$, with attendant grain elongation. The resulting micro-structure thereby provided a spectrum of $\alpha$/$\beta$ phase ratios, grain sizes, and grain shapes. Fracture strength, hardness, and toughness were measured, and contact damage and strength degradation after indentation were investigated by Hertzian indentation using spherical indenter. A brittle to ductile transition in $Si_3N_4$ depended on $\alpha$/$\beta$ phase ratio as well as grain size. Silicon nitride with elongated $\beta$ grains showed a superior, contact damage resistance.

• Journal of the Korean Society of Visualization
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• v.10 no.3
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• pp.21-24
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• 2012

Although the motion of the three-phase contact line on a solid substrate has been extensively studied thus far, the understanding of the dynamics of the contact line of liquid/liquid/gas phases is far from complete. Here we deposit a drop of isopropyl alcohol (IPA) on water and HFE-7100 whose free surfaces are exposed to air to observe the flow field around the contact line. By combining the shadowgraph and high-speed imaging techniques, we find that vortices are spontaneously generated at the contact line, which grow in size with time. The flow is attributed to the Marangoni stress that pulls a liquid of lower-surface tension toward a liquid surface having a higher surface tension. However, it is not still clear why the entrained lower-surface-tension liquid should whirl rapidly beneath the contact line. We also visualize the flow by the particle image velocimetry (PIV) to find out that the rotational velocity reaches the order of 1 mm/s near the free surface.

• Journal of Powder Materials
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• v.29 no.1
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• pp.41-46
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• 2022

In this study, we report the microstructure and characteristics of Ag-SnO₂-Bi₂O₃ contact materials using a controlled milling process with a subsequent compaction process. Using magnetic pulsed compaction (MPC), the milled Ag-SnO₂-Bi₂O₃ powders have been consolidated into bulk samples. The effects of the compaction conditions on the microstructure and characteristics have been investigated in detail. The nanoscale SnO₂ phase and microscale Bi2O3 phase are well-distributed homogeneously in the Ag matrix after the consolidation process. The successful consolidation of Ag-SnO₂-Bi₂O₃ contact materials was achieved by an MPC process with subsequent atmospheric sintering, after which the hardness and electrical conductivity of the Ag-SnO₂-Bi₂O₃ contact materials were found to be 62-75 HV and 52-63% IACS, respectively, which is related to the interfacial stability between the Ag matrix, the SnO₂ phase, and the Bi₂O₃ phase.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.126-141
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• 1997

The purpose of this research is to develope a FEM program for analyzing solidification processes of axisymmetric casting, considering phase changes and the contact between the metal and mold. Tempera- ture recovery method is employed fro considering the phase changes releasing the latent heat and the coin- cident node method is used for calculating the amount of heat transfer between the metal and mold. Tan- gent modulus algorithm is adopted for calculating flow stress and a gap element is employed for modeling the interface between the mold and metal in finding deformed shapes. In order to verify the developed program, axisymmetric aluminum and steel casting processes are simulated. Temperature distribution, phase front position, and shrinkage and porosity creation are compared with measurements, FIDAP results, and good agreements are examined.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.17-20
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• 1999

In this paper, we consider on hard contact transition control strategies. Hard contact transition phase can be divided into two definitely different phases,“Pre-Transition Phase”and“Transition Phase”. Here we focus on the“Pre-Transition Phase”and we propose three control methods. First, we propose a novel con-troller named as “Suppression Controller”which is not only stable but also simple to implement. Second, we present passive damper named as“Flexible-Damped Joint”Which is good solution in Circumventing pre-transition Phase. Third, We suggest a stable and simple controller which can maximize joint damping and minimize recontact velocity in flexible-damped joint. It is named as“Joint Damping Controller”.