• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.183-188
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• 1994

A passivity-based adaptive controller for robots executing fine motion tasks is proposed. The robot dynamics is modelled such that it is subject to holonomic constraints and hence it can be treated as a particular case of constrained motion tasks. Energy-motivated stability analysis is used to conclude the asymptotic stability. Remarks regarding the structure of the controller are given. A computer simulations study is presented and a robust constraint stabilization algorithm is also proposed.

• 한국군사과학기술학회지
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• 제11권4호
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• pp.83-91
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• 2008

The development of the equal channel angular pressing(ECAP) process in metals has recently provided a feasible solution to produce ultra-fine or nano-grained bulk materials with tailored material properties. However, ECAP process is difficult to scale up commercially due to requirements of an excessive load. In this paper, a new Hybrid-ECAP process with torsional die is considered to obtain materials of ultra-fine grain structure under low forming load. An upper bound analysis and numerical simulation (DEFORM 3D, a commercial FEM code) are carried out on the torsional die. By the upper bound analysis, analytical expression for the compression force and rotation speed are obtained. By the FEM analysis, the distribution of strain, stress and deformation are obtained. These results show that the Hybrid-ECAP is a useful process because this process can obtain the homogeneous deformations with relatively low forming load. Additionally, due to decreased forming load, die life can be improve.

• 국제초고층학회논문집
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• 제4권1호
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• pp.75-83
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• 2015

In the present study, the preliminary results of a large-scale seismic response analysis of a super-high-rise steel frame considering soil-structure interaction are presented. A seismic response analysis under the excitation of the JR Takatori record of the 1995 Hyogoken-Nanbu earthquake is conducted. Precise meshes of a 31-story super-high-rise steel frame and a soil region, which are constructed completely of hexahedral elements, are generated and combined. The parallel large-scale simulation is performed using K computer, which is one of the fastest supercomputers in the world. The results are visualized using an offline rendering code implemented on K computer, and the feasibility of using a very fine mesh of solid elements is investigated. The computation performance of the analysis code on K computer is also presented.

• Animal cells and systems
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• 제13권2호
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• pp.161-167
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• 2009

The cuticle of spider's exoskeleton is a hydrophobic and non-adhesive material, but the jumping spiders have the distinctive attachment apparatus for adhesion on smooth dry surface without sticky fluids. We have examined the whole tarsal appendages of the jumping spider, Plexippus setipes with using scanning electron microscope to reveal the fine structural characteristics of the dry adhesion system. All eight legs have the scopulae with a pair of claws on the tip of feet. Each scopula is composed of two groups of setae that are capable of dry adhesion on smooth surface, and the hook structure of the claw is advanced to move on the rough surface. The setae toward the bottom of the tarsal segment are densely covered by numerous setules on the underside which broadened from middle to distal portion. It has been revealed by this research that the contact area of the setule is always a triangular shape, and these cuticular surfaces are connected by the elongated stalks from the underlying setae. It is likely that the nano-scale structures including a triangular depression and a longitudinal groove on each setule could functionate when the spider detach its feet from the substrate.

• Animal cells and systems
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• 제7권1호
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• pp.35-41
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• 2003

The principal fibers used in constructing the cocoon in the garden spider, Argiope aurantia, are large-diameter fibers developed from tubuliform glands and small-diameter fibers presumed to be spun by the aciniform silk glands. Scanning electron micrographs of the large-diameter fibers on both surfaces of the cocoon clearly reveal their fine structural differences. While the silk fibers on the inner surface have smooth and homogeneous appearances, each fiber on the outer surface represents a multicomponent internal structure. Examination of each fibers using transmission electron microscope also provides additional evidence that the multicomponent fibers contain numerous electron lucent fibrils embedded in an amorphous electron dense matrix. It has been also revealed that two types of secretory granules presumed to be the precursors of tubuliform fibers are closely related to the production of distinct coloration in luminal contents - brownish and yellowish components. Moreover, these electron-dense granules, possibly precursor of fibrillar component, and electron-lucent granules, possibly precursor of matrix component, are densely packed and remain close to each other without fusion. It is critical evidence that the individual tubuliform fiber is not only heterogeneous and multicomponent but also takes place in a variety at manners throughout the length of the gland.

• 대한기계학회논문집A
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• 제33권8호
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• pp.819-825
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• 2009

An open frame structure is fastened by bolt joints for strength and shock attenuation. Therefore the full finite element model of an open frame structure should be properly modeled including bolt joints for strength analysis of the frames and joint assemblies which are operated under multi-loading conditions such as driving, drop, inertia and torsional loads. Then the joints and frames must satisfy the specified allowable strength constraints. Because the full finite element model has a large number of elements to perform strength analysis, a detailed fine bolt analysis seems to be very expensive. Therefore bolts of the full finite element model are approximately modeled by coupling method to constrain degree of freedoms between adjacent nodes. However, the coupling method can exaggerate stress results at the constrained nodes. Thus a detailed bolt analysis and a theoretical/experiential formula of bolts for a worst bolt joint are performed using reaction force applied both bolt and bolt joint. Finally, the results from the two methods are compared and discussed to verify the safety of the open frame structure.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2016년도 제50회 동계 정기학술대회 초록집
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• pp.96-96
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• 2016

Nanotechnology mostly employs nano-materials and nano-structures with distinctive properties based on their size, structure, and composition. It is quite difficult to produce nano-materials and nano-structures with identical sizes, structures, and compositions in large quantities, because of spatiotemporal fluctuation of production processes. In other words, fluctuation is the bottleneck in nanotechnology. We propose three strategies to suppress such fluctuations: employing 1) difference between linear and nonlinear phenomena, 2) difference in time constants, and 3) nucleation as a bottleneck phenomenon. We are also developing nano- and micro-scale guided assembly using plasmas as a plasma nanofabrication.1-5) We manipulate nano- and micro-objects using electrostatic, electromagnetic, ion drag, neutral drag, and optical forces. The accuracy of positioning the objects depends on fluctuation of position and energy of an object in plasmas. Here we evaluate such fluctuations and discuss the mechanism behind them. We conducted in-situ evaluation of local plasma potential fluctuation using tracking analysis of fine particles (=objects) in plasmas. Experiments were carried out with a radio frequency low-pressure plasma reactor, where we set two quartz windows at the top and bottom of the reactor. Ar plasmas were generated at 200 Pa by applying 13.56MHz, 450V peak-to-peak voltage. The injected fine particles were monodisperse methyl methacrylate-polymer spheres of $10{\mu}m$ in diameter. Fine particles were injected into the reactor and were suspended around the plasma/sheath boundary near the powered electrode. We observed binary collision of fine particles with a high-speed camera. The frame rate was 1000-10000 fps. Time evolution of their distance from the center of mass was measured by tracking analysis of the two particles. Kinetic energy during the collision was obtained from the result. Potential energy formed between the two particles was deduced by assuming the potential energy plus the kinetic energy is constant. The interaction potential is fluctuated during the collision. Maximum amplitude of the fluctuation is 25eV, and the average is 8eV. The fluctuation can be caused by neutral molecule collisions, ion collisions, and fluctuation of electrostatic force. Among theses possible causes, fluctuation of electrostatic force may be main one, because the fine particle has a large negative charge of -17000e and the corresponding electrostatic force is large compared to other forces.

• 한국동물학회지
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• 제39권2호
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• pp.223-230
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• 1996

Fine structure of the neuromuscular junction in the venomous organ of the spider, Agelena li'mbutq, was studied using high magnification electron microscope. The motor nerve endings at neuromuscular contact area composed of neurons and neuroslial cells were located between musculature and extracellular sheath of the venom gBand. At the synaptic contact between a motor axon and a muscle fiber in the musculature, spherical synaptic vesicles were prominent in the nerve terminal. The sarcoplasm beneath the neuromuscular synapse has a granular appearance and lacks mvofilaments. And the main axon gives off a branch between the muscle fibers. The synaptic regions of this organ are located close to the myofilaments unlike to other chelicerate classes. Moreover the postsvnaptic complex of vesicles and membrane invasinations present in other synaptic legions are absent from these legions in this venomous organ.

• Carbon letters
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• 제18권
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• pp.56-61
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• 2016

Cellulose fibers were stabilized by treatment with an electron-beam (E-beam). The properties of the stabilized fibers were analyzed by scanning electron microscopy, Fourier transform infrared spectroscopy, X-ray photoelectron spectroscopy, and thermogravimetric analysis. The E-beam-stabilized cellulose fibers were carbonized in N₂ gas at 800℃ for 1 h, and their carbonization yields were measured. The structure of the cellulose fibers was determined to have changed to hemicellulose and cross-linked cellulose as a result of the E-beam stabilization. The hemicellulose decreased the initial decomposition temperature, and the cross-linked bonds increased the carbonization yield of the cellulose fibers. Increasing the absorbed E-beam dose to 1500 kGy increased the carbonization yield of the cellulose-based carbon fiber by 27.5% upon exposure compared to untreated cellulose fibers.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.523-528
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• 2008

An open frame structure is fastened by bolt joints for strength and shock attenuation. Therefore the full finite element model of an open frame structure should be properly modeled including bolt joints for strength analysis of the frames and joint assemblies which are operated under multi-loading conditions such as driving, drop, inertia and torsional loads. Then the joints and frames must satisfy the specified allowable strength constraints. Because the full finite element model has a large number of elements to perform strength analysis, a detailed fine bolt analysis seems to be very expensive. Therefore bolts of the full finite element model are approximately modeled by constraints equations to constrain degree of freedoms between adjacent nodes. However, the constraints equation method can exaggerate stress results at the constrained nodes. Thus a detailed bolt analysis and a theoretical/experiential formula of bolts for a worst bolt joint are performed using reaction force applied both bolt and bolt joint. Finally, the results from the two methods are compared and discussed to verify the safety of the open frame structure.