• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1374-1378
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• 2005

Appropriate upward force is crucial for the pantograph on high speed train to collect current from the catenery system without separation. However, at high speed, large aerodynamic lifting force is generated by the contact plate and the arms of pantograph, which may cause wear of the contact wire. In this study, to confirm the interface performance of the pantograph on Korea High Speed Train, a method to measure the contact force of the pantograph was proposed and the related measurement system was developed. The forces acting on the pantograph were clarified and a procedure to calculate the aerodynamic lifting force was proposed. A special device was invented and applied to measure the lifting force. Measured contact forces were displayed by the developed system and evaluated according to the criteria. Countermeasures were also taken to reduce the contact force based on the results.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1651-1656
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• 2005

This paper describes a natural frequency analysis conducted to find out a suitable working area for a spring-manipulator system generating a large vibrating force with mechanical resonance. Large force generation is one of the functions that we hope for a robot. For example, a weeding robot is required to generate a large force, because some weeds have roots spreading deeply and tightly. The spring-manipulator system has a spring element as an end-effector, so it can be in a state of resonance with the elasticity of the spring element and the inertial characteristics of the manipulator. A force generation method utilizing the mechanical resonance has potential to produce a large force that cannot be realized by a static method. A method for calculating a natural frequency of a spring-manipulator system with the generalized inertia tensor is proposed. Then the suitable working area for the spring-manipulator system is identified based on a natural frequency analysis. If a spring-manipulator system operates in the suitable working area, it can sustain mechanical resonance and generate a large vibrating force. Moreover, it is shown that adding a mass at the tip of the manipulator expands the suitable working area.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.3 no.1
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• pp.28-37
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• 2004

An on-line monitoring system of endmill failure such as weal, chipping, and fracture is developed using AE, cutting force Characteristic variations of AE and cutting force signals due to endmill failure are identified as follows. When endmill fracture occurs, AE count rate shows a rapid Increase in conjunction with a subsequent decrease while a standard deviation of the principal cutting force Increases significantly. The increase of AE count rate precedes the Increase of standard deviation of principal cutting force. Chipping results in relatively small increase and decrease of AE count rate without any significant variation of the cutting force Gradual increase of AE count rate and mean principal cutting force are Identified to be related with the wear of cutter. A cutter fracture detection algorithm is developed based on the present results. The signals me normalized to enhance the applicability of the algorithm to Wide those of fresh cutters, and qualitative characteristics of AE signals encountered at the moment of fracture are employed. It is demonstrated that the algorithm can detect the cutter fracture successfully.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.11
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• pp.67-73
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• 2001

This paper aims at developing a torque model for the high-speed tapping with small-diameter taps. As recent industries such as automobile and information technology grows, taps smaller than 5mm in diameter are needed much more. In that occasion, the friction force between a tap surface and a workpiece plays much more important role in the tapping torque than in he larger tapping. Tapping mechanism was analysed based on the tap geometry. It has two steps : one is a forward cutting composed of the chamfered threading and full threading and the other is the backward cutting. The torque by the cutting force in the chamfered threading is calculated using the cutting area and the specific cutting force while the torque by the friction force, which is rather dominant than the cutting force both in the full threading and in the backward cutting, is calculated using the normal force on the threads and the friction coefficient. The experiment has shown that the results by the proposed torque model fit quite well with the acutal measurements within the error of 10%.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.6
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• pp.976-981
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• 1986

The Stress analysis based on the large deflection theory of plate for the large cylindrical storage tank is performed by considering the change of membrane force for the various parameter, i.e., thickness ratio, tank height to diameter ratio, and stretched length. The critical buckling force of cylindrical shell is obtained to investigate the safety of tank shell. By numerical result, the thickness ratio is the important parameter for the membrane force, the height of tank is related linearly with the force, and the stretched length of bottom plate is little influenced. Also, the critical buckling force of cylindrical shell is large than the edge shear force at bottom-shell junction, and hence the consideration of the shell buckling is not required.

• PNF and Movement
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• v.14 no.1
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• pp.53-57
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• 2016

Purpose: This study aimed to examine the correlation between the asymmetric ratio of occlusal force of the temporomandibular joint and the thickness of the middle scalene muscle. Methods: The study measured the occlusal force of the right and left temporomandibular joints in 30 subjects (12 males and 18 females). Pearson's correlation analysis was performed to examine the effect of occlusal force on the asymmetric ratio of the thickness of their middle scalene muscles by measuring the force using ultrasound after the break. Results: The correlation between the asymmetric ratio of occlusal force and muscle thickness is 0.41, according to Pearson's correlation coefficient. Therefore, the result shows a moderate correlation with the asymmetric ratio of the temporomandibular joint depending on differences in the thickness of the middle scalene muscle. Conclusion: Based on the above results, the asymmetric ratio of occlusal force was found to correlate with the thickness of the middle scalene muscle. Thus, therapeutic intervention is required for the middle scalene muscle in the case of temporomandibular joint disorder.

• Transactions of the Society of Information Storage Systems
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• v.2 no.2
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• pp.105-110
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• 2006

Study for toner adhesion is 3non as an important role in electrophotography. In this research, a centrifugal detachment method was used to measure the adhesion force of several hundred particles simultaneously and to determine its sensitivity to particle size. For uncharged toner particles, we estimated the van der Waals force based on the centrifugal force experiments. Then for charged toner particles, the centrifugal force experiments were carried out. The difference between the results for charged toner particles and the results for uncharged toner particles was compared with the image force calculated from a model which assumed that the toner charge was located at the center of the particle. In the calculations, experimental data obtained by E-SPART (Electrical-Single Particle Aerodynamic Relaxation Time) analyzer were used. The adhesion force of micro-sized toner particles deposited on the DR surface was found to be approximately $1{\sim}3$ nN.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• Journal of The Korean Association For Science Education
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• v.14 no.2
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• pp.133-142
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• 1994

Many students have misconceptions that upward direction force act on the object which is moving upward after being thrown vertically upward, and no force act on the object at the top of its flight because the object stop or don't' move at the top. To change these misconceptions, in this study, deductive reasoning tasks were used, and student's responses to the tasks were analyzed. In the first part of this study, student's prior conceptions about force and motion and student's deductive reasoning abilities were investigated. And the second part, student's explanations were classified to either the premise-based or idea-based explanation. In the case of the object which is moving upward, 62% of students who had misconception changed their misconceptions to physically correct concept, but, only 24% of students changed their misconceptions for the object at the top. For the first task, more students changed their misconceptions when they made responses based on premises than based on their own idea(p<.05), so, the first task can be helpful for conceptual change. 40% students changed their own misconception by reasoning deductively based on premises provided in the first task, but only 17% students changed by the second task. Student's reasoning abilities investigated in the first part of this study did not affect the conceptual change. Four students for the first task and one student for the second task did not change their misconception even though they made premise-based explanation and had high reasoning abilities.