• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.909-915
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• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• Tribology and Lubricants
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• v.9 no.1
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• pp.45-54
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• 1993

The lubrication characteristics of line contacts between the vane and cam ring in an oil hydraulic vane pump with intravanes have been investigated. Variations of the radial acting force of a vane were calculated from previously measured results of dynamic internal pressures in four chambers surrounding a vane, and variations of the film thickness were estimated in both the rotational speed range from 500 to 1500 rpm and in the delivery pressure range from 1 to 14 MPa. The results indicate the variations of the radial acting force and film thickness. It is found that the regimes of lubrication in the vane tip contacts lover rigid-isoviscous to rigidvariable viscosities.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1155-1160
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• 1991

Active part mating algorithm using 6-axis force sensor data for the assembly automation and/or teletobotics is presented and experimented. Parts to be mated are cylindrical and have no chamfers. There are basically two modes. One is the normal mode with only a positional error, the other is the tilted mode with an orientational error in addition to a positional error. The used algorithm distinguishes a contact external to the hole from that of internal to the hole in order to perform part-mating in spite of the relative tilt between the hole and the peg.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.10a
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• pp.30-37
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• 1998

It is well known that reduction of friction loss due to the valve train system greatly affects on improvement of fuel economy in internal combustion engine. In order to investigate friction characteristics of valve train system we carried out friction force measurement using test rig developed by ourselves. From test results, we concluded that characteristics of lubrication and friction torque on the valve train system such as mixed and hydrodynamic was mainly governed the contact type between cam and tappet.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.157-160
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• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

• Journal of Korean Foot and Ankle Society
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• v.4 no.1
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• pp.19-22
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• 2000

Fracture and dislocation of the four lateral metatarsal head and neck at the metatarsophalangeal joint, which may be associated with a hyperextension force, axial load, and additional rotating force, has rarely been reported. The patient was a 32-year-old man who sustained the injury in a motor vehicle accident. Manual reduction was easily performed but maintenance of reduction was difficult, due to the associated fractures of the metatarsal necks. Thus percutaneous internal fixation with Kirshner's wires was required.

• Proceedings of the KSR Conference
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• 1999.11a
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• pp.534-541
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• 1999

The purpose of this study is to suggest the effective analytical procedure using finite element model for the crashworthiness of motorized trailer of high speed train. In the analysis of end-on collision of Motorized Trailer for Korean High Speed Train., deformed pattern, rigidwall force, internal energy and each part section force is obtained. From those indices, we evaluate crashworthiness of motorized trailer for Korean High Speed Train in planning. The numerical results are applied to the design of motorized trailer of Korean high speed train.

• Structural Engineering and Mechanics
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• v.56 no.3
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• pp.341-354
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• 2015

The dual-phase lag heat transfer model is employed to study the problem of isotropic generalized thermoelastic medium with internal heat source. The normal mode analysis is used to obtain the exact expressions for displacement components, force stress and temperature distribution. The variations of the considered variables through the horizontal distance are illustrated graphically. The results are discussed and depicted graphically.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.6
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• pp.43-50
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• 2002

In the design of structure, the forces acting on tai structure are key parameter fur noise and vibration control. However, in the complex structure, the forces at the injection point on the structure cannot be measured directly. So, it is necessary to find out Indirect force evaluation method. In this paper, forces have been measured with In-situ vibration responses and system information. And, three existing techniques of indirect force measurement, vita. direct inverse. principal component analysis and regularization have been compared. This paper shows that multi-vibration responses are essential for talc precise estimation of the forces. To check these conditions, rotary compressor is adopted as test sample, because it is very difficult to measure the injection forces from internal excitation to shell. It alas also been obtained that relatively higher force is transmitted through three welding paths to the compressor shell. It shows a good agreement between direct and indirect force evaluation with curvature shell and plate.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.70-78
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• 2005

This paper presents hybrid control of displacement and force in a Medical Tele-Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele-Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele-analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.