• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.11
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• Journal of Institute of Convergence Technology
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• v.6 no.1
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• pp.37-41
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• 2016

The serpentine internal passage is located in turbine blade and it shows the variety heat transfer distribution. Especially, the Coriolis force, which is induced by blade rotation, makes different heat transfer distribution of the leading and trailing surfaces of serpentine internal passage. The different heat transfer is one of the reasons why the serpentine cooling passage shows low cooling performance in the rotating condition. So, this study tried to design the advanced the serpentine passage to consideration of the Coriolis force. The design concept of advanced serpentine cooling is maximizing cooling performance using the Coriolis force. So, the flow turns from leading surface to trailing surface in advanced serpentine passage to match the direction of Coriolis force and rotating force. We performed numerical analysis using CFX and compared the existing and advanced serpentine internal passage. This design change is induced the high heat transfer distribution of whole advanced serpentine internal passage surfaces.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.05a
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• pp.609-614
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• 2001

This paper is to explain reasonable shear behavior that can apply usually to reinforced concrete beams on the basic concepts of existent analysis and experimental research information. This study is succession $paper^{2) 3) 4) 5)}$ of treatise announced in existing and main control variable of reinforced concrete beams with stirrups used internal force state factor($\alpha$). Shear failure of reinforced concrete beams with stirrups is Influenced greatly because of the actual geometrical shape(a/d) of the concrete and flexural reinforcement steel ratio, stirrup reinforcement ratio and concrete compression strength, size effect etc. Therefore, shear behavior of reinforced concrete beams with stirrups that flexural crack is happened can be explained easily through proper extent proposal of internal force state factor($\alpha$) that express internal force state flowing. Use existent variable truss model by analysis model to explain arch action. Also, wish to compose each failure factors and correlation with internal force state factor by function, and when diagonal cracks happens, internal force state factor($\alpha$) study whether shear stress and some effect are.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.112-119
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• 2004

This paper discussed on the effect of an internal damping on the stability of an elastic material subjected to dry friction force. Dry friction forces act tangentially at the contact surface between a moving belt and elastic material. The elastic material on a belt moving is modeled for simplicity into a cantilevered beam subjected to distributed follower force. In the analysis, the discretized equations derived according to finite element method are used. The impulse response of the beam are studied by the mode superposition method to observe the growth rate of the motion. It is found that the internal damping in cantilevered beam subjected to distributed follower force may act destabilizing.

• Journal of Drive and Control
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• v.15 no.4
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• pp.55-60
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• 2018

Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.11a
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• pp.483-488
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• 2001

The RC beams subjected to bending and shear are an important substructure. After flexural cracking, the internal stress state in the beam could not be explained by the classical beam theory. In this study the internal force state factor is introduced to explain the stress state change in the RC beams. The internal force state factor of uniform load was expanded by superposition method using infernal force state factor of point load. As the load types change, the operator that would be calculated the internal force state factor was proposed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.237-240
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• 1996

Internal Force based control of dual redundant manipulator is proposed. One is resolved acceleration type control in the decoupled joint space which includes null motion space and the other is in the impedance control fashion in which the desired impedances are decoupled in three subspace, internal motion controlled space, orthogonal to that space, and the null motion controlled space. The internal force is formulated with its basis set meaningful. The object dynamics is also briefly evolved beforehand.

• Structural Monitoring and Maintenance
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• v.5 no.1
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• pp.93-110
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• 2018

In order to provide a novel strategy for long-span bridge health monitoring system design, this paper proposes a novel ultimate bearing capacity ratios based bridge internal force monitoring design method. The bridge ultimate bearing capacity analysis theories are briefly described. Then, based on the ultimate bearing capacity of the structural component, the component ultimate bearing capacity ratio, the uniformity of ultimate bearing capacity ratio, and the reference of component ultimate bearing capacity ratio are defined. Based on the defined indices, the high bearing components can then be found, and the internal force monitoring system can be designed. Finally, the proposed method is applied to the bridge health monitoring system design of the second highway bridge of Wuhu Yangtze river. Through the ultimate bearing capacity analysis of the bridge in eight load conditions, the high bearing components are found based on the proposed method. The bridge internal force monitoring system is then preliminary designed. The results show that the proposed method can provide quantitative criteria for sensors layout. The monitoring components based on the proposed method are consistent with the actual failure process of the bridge, and can reduce the monitoring of low bearing components. For the second highway bridge of Wuhu Yangtze river, only 59 components are designed to be monitored their internal forces. Therefore, the bridge internal force monitoring system based on the ultimate bearing capacity ratio can decrease the number of monitored components and the cost of the whole monitoring system.

• Korean Journal of Cleft Lip And Palate
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• v.4 no.2
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• pp.45-50
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• 2001

Recents reports have demonstrated that force and direction is important during mandibular distraction osteogenesis. The purpose of this study was to evaluate the resistant force of internal pterygoid muscles and inquire into relationship between internal pte'Ygoid muscles and cephalometric parameters. Eighty four patients with class III malocclusion underwent bilateral sgittal splitting of ramus with intraoral vertico-sagittal ramal osteotomy. A spring scale were used for measuring for resistence of internal pterygoid mescles after splitting of ramus. Skeletal-dental cephalometric analysis was made following statistic package was used for correlation between resistence and cephalometric parameters. The resistant force of right internal pterygoid muscle was greater than left muscle in Korean with class III malocclusion and the force had a linear regression relationship with facial depth (distance between nasion and gonion). The results suggested that facial depth has significant correlation of the resistance of internal pterygoid muscle (p<0.05).