• 전기학회논문지
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• 제66권2호
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• pp.468-473
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• 2017

This paper presents an in-process measurement system for shaft radius measurement during grinding process. This system does not require to stop the grinding process, which can enhance productivity and quality. In order to measure the radius, the system employs an eddy current sensor that can measure without any contact with the shaft. This type of sensor is very appropriate because it is insensitive to interference such as cutting fluid, coolant, contact pressure, and wear. For data analysis, the measurement system is modeled as a linearized discrete form where the states with noise are estimated by an extended Kalman filter. This system has been validated through simulations and experiments.

• 한국자동차공학회논문집
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• 제6권4호
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• pp.24-31
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. The planar vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems. i.e., the chassis subsystem and track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The nonlinear contact force modules describing the interaction between track links, and sprocket, idler, rollers and ground will be developed.

• 한국철도학회논문집
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• 제18권4호
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• pp.289-300
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• 2015

철도 전동 소음은 철도에서 발생하는 대표적인 소음으로서 차륜과 레일의 음향 조도에 의해 가진 된 차륜 및 레일의 진동으로부터 발생한다. 철도 전동 소음 해석 시 레일 방사 소음은 자유 공간에 놓인 레일의 음향 방사 파워를 이용해 원거리에서 계산하므로, 일반적으로 소음원 모델에 지면 반사를 고려하지 않는다. 그러나 레일 주위의 근접 음장을 해석하고 저감 대책을 적용하기 위해서는 지면에 의한 음파의 반사를 고려해야 한다. 본 논문에서는 파수유한요소/경계요소법을 이용해 지면에 의해 발생하는 레일 소음의 변화와 그 특성을 살펴보았다. 해석은 먼저 레일이 강체 지면에 부착된 경우와 레일 패드 높이만큼 강체 지면에서 이격된 경우에 대해 방사효율을 구하고 그 결과를 비교하였다. 이를 통해 레일과 강체 지면의 이격 여부에 따라 레일 방사 소음에 크게 변화함을 확인하였다. 둘째로는 지면에 임피던스 경계조건을 부여하고 레일에서 방사되는 음향 파워 및 지향 특성의 변화를 살펴보았다.

• 로봇학회논문지
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• 제12권2호
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• pp.161-172
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• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2000년도 추계학술대회 논문집
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• pp.704-711
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• 2000

This study is carried out using a circuit model approach. First, the self and shunt impedances of all the conductors in the rail system and the mutual impedances between different conductors are computed. Then, a circuit representing the both rail systems at interfaces including the rails, feeders, protection wires, contact wires, ground wires is built. Auto-transformers in the system are also represented in the circuit model. The circuit model is then 1]recessed using a circuit solver based on a double-elimination method. Several different scenarios are analyzed, including the load conditions and a few fault conditions with different fault locations. The effect of the buried ground wires is also analyzed by comparing the results with and without the presence of the ground wires. The analysis procedure presented in the paper demonstrated an accurate way of computing fault current distribution and EMC at interfaces between both systems. The results presented in the paper can be used as a reference for estimating interference levels in similar rail systems.

• 한국운동역학회지
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• 제28권3호
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• pp.165-173
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• 2018

Objective: The purpose of this study is to provide biomechanical basis data for the analysis of the maximum vertical ground reaction force, the maximum plantar pressure, the average plantar pressure, and the contact area according to the type of the insole through the insole insertion type foot pressure gauge. Method: In the treadmill, the slope was set at 10%, the first type A was worn at a walking speed of 3.5 km / h, and then walking was carried out using B, C, and D types. Data from 20 boots with consistent walking were extracted and plantar pressure data were collected and analyzed. Results: Functional insole was more effective than conventional insole for maximum vertical ground reaction force, maximum plantar pressure, average plantar pressure, and contact area at 10% of treadmill ramps. Conclusion: In this study, D-type insole supports the cushion in the middle part and supports the heel cup with hardness in the hind part, so that it is the most effective insole by lowering the plantar pressure and dispersing it more widely.

• 대한의용생체공학회:의공학회지
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• 제18권1호
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• pp.71-78
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• 1997

Kinematic and kinetic studies were performed to investigate the walking characteristics on a treadmill with various slopes at the same speed of 1.25m/sec. Six different slopes of the treadmill were selected . -4%(-$2.3^{\circ}$), 0%($0^{\circ}$), 5%($2.9^{\circ}$), 10%($5.7^{\circ}$), 15%($8.6^{\circ}$), and 20%($11.3^{\circ}$). With increased slopes of the treadmill, both hip and knee flexion angles significantly increased at initial contact, and the maximum hip flexion during swing phase and the maximum knee flexion during stance phase also significantly increased Ankle dorsiflexion angle at initial contact and the maximum dorsiflexion increased with increased slopes. However, the maximum plantarflexion in early swing was slightly reduced with increased slopes. Hip extension in late stance and the maximum knee flexion in early swing was not changed sigilificantly with increased slopes. As for the vertical ground reaction force, compared to the yond level walking, both the first and the second peak forces increased, but the mid-support force decreased.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.503-508
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• 2003

In this study, we peformed ahead a field geological investigation, boring investigation for slope stability analysis in large scale slope failure area. But the geological stratum was not clearly grasped, because ground was very disturbed by large scale Granite intrusion. Furthermore, the existing test data was not pertinent to the large scale Granite intrusion site like here. Therefore, various kind of field test were performed to grasp clearly for geological stratum. And the results of back analysis, various kind tests used to slope stability analysis.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국터널지하공간학회 논문집
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• 제17권6호
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• pp.623-635
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• 2015

지하수위 아래에 건설되는 복층터널은 비교적 대단면이며 비배수 터널로 건설되는 특징을 가지고 있다. 지하수위 하부에 위치하는 터널은 지하수로 인해 발생하는 부력으로부터 터널의 안정성 확보방안이 필요하다. 일반적으로 터널 라이닝과 지반사이의 경계면에서의 결합력은 부력에 대해 충분한 안정성을 발휘한다. 그러나 장기적인 시간이 경과하면 구조물의 열화로 인하여 결합력이 감소할 수 있다. 본 연구에서는 장기적인 관점에서 부력으로 인한 복층터널의 영향을 조사하였다. 그 결과 부력으로 인해 터널 하단부분에서 변형과 라이닝에 작용하는 응력이 증가하였다. 본 연구로부터 운영중 터널의 라이닝과 지반사이의 결합력을 유지시킬 수 있는 방안이 필요함을 알 수 있다.