• 로봇학회논문지
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• 제14권4호
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• Preventive Nutrition and Food Science
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• 제2권1호
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• pp.1-5
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• 1997

Solution Properties of polyelectrolytic biopolymers such as chitosen, pectin, alginate and etc. are significantly influenced by molecular weight and salt concentrations. The effect of NaCI concentration on the hydrodynamic properties of chitosan in dilute region was investigated for chitosans of varying molecular weight. Intrinsic vicosity([η]) of citosans with 5 different molecular weight was determined by glass capillary viscometer, and the viscosity average molecular weight was calculated using Mark-Houwink equation. Intrinsic viscosity decreased with increasing NaCI concentration for all chitosan samples, and it was proportional to the logarithmic NaCI concentration, i.e.,[η]∝log{TEX}$(C_{NaCl})^{$\alpha$}${/TEX}. Decreasing trend of[η] with NaCI concentration became more pronounced with increasing molecular weight. It was also found that the a values, indicating {TEX}$C_{NaCl}${/TEX} dependence of[η], were linearly correlated with the logarithmic molecular weight({TEX}$R^{2}${/TEX}=0.980). The chain stiffness parameters(B) were calculated by B=S./{TEX}$([η]_{0.1})^{1.32}${/TEX}, in which S was obtained from slope of [η] va {TEX}$I^{-1/2}${/TEX}. The B values of chitosan samples were determined to be 0.113~0071 with a average of 0.09.

• KSBB Journal
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• 제10권4호
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• pp.386-392
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• 1995

The high viscous ${\gamma}$-polyglutamic acid(${\gamma}$-PGA) from alkalophilic Alcaligenes sp. was purified and its solution property was investigated. The intrinsic viscosities for Na+ form and H+ form of ${\gamma}$-PGA were 31.1 and 0.38d$\ell$/g, respectively. The viscosity of H+-PGA was not influenced by pH or salts while that of Na+-PGA was influenced. The intrinsic viscosity of Na+-PGA solution decreased remarkably at the alkaline or acidic pH and showed the sharp decrease when salts were added. ${\gamma}$-PGA exhibited the property of the polyelectrolyte showing the .sharp decrease of intrinsic viscosity by the addition of NaCl, and intrinsic viscosity of dilute solution with the low concentration of NaCl was exponentially dependent on temperature and its temperature dependency increased with increasing NaCl concentration. The chain stiffness, coil overlap parameter and critical concentration of Na+-PGA were 0.08, 5.25 and 0.07g/d$\ell$, respectively.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1646-1652
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• 2006

A model of mechanical behavior of microcantilever due to intrinsic strain during deposition of MEMS structures is derived. A linear ordinary differential equation is derived for the beam deflection as a function of the thickness of the deposited layer. Closed-form solutions are not possible, but numerical solutions are plotted for various dimensionless ratios of the beam stiffness, the intrinsic strain, and the elastic moduli of the substrate and deposited layer. This model predicts the deflection of the cantilever as a function of the deposited layer thickness and the residual stress distribution during deposition. The usefulness of these equations is that they are indicative of the real time behavior of the structures, i.e. it predicts the deflection of the beam continuously during deposition process.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• 한국수산과학회지
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• 제28권4호
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• pp.451-456
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• 1995

CM-chitin 분자의 고유특성을 규명하기 위하여 물성학적 방법으로 저농도 용액에서의 CM-chitin의 고유특성인 사슬배좌와 전해질 거동에 대하여 조사하였다. 비교란 상태에서 CM-chitin 사슬의 양단간 거리는 $127{\AA}$효에서 $113{\AA}$으로 분자량이 작을수록 양단간 거리는 좁혀지는 경향을 보였다 회전반경의 경우에도 $52{\AA}$에서 $46{\AA}$으로 양단간 거리와 같은 경향을 보였다. 팽창인자는 분자량에 관계없이 거의 일정하게 나타났으며, 결합사슬의 길이는 $14.5{\AA}$이었다. 그리고 교란 상태에서 CM-chitin의 Flory 점도상수는 $2.35\times10^{21}$이었다. CM-chitin의 이온강도에 따른 고유점도의 변화에 있어서 이온강도가 0.02일 때 고유점도는 1.95d1/g이었으며, 이온강도 1.0일 때는 고유점도가 1.06dl/g로 이온강도가 증가함에 따라 고유점도는 감소하는 경향을 보여 CM-chitin이 전해질임이 확인되었다. 그리고 전하를 완전히 제거한 상태에서의 CM-chitin의 고유점도$([\eta]_\infty)$는 0.91dl/g이었다. 한편 사슬의 유연성은 k-carrageenan과 거의 같은 것으로 나타났다.

• 산업기술연구
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• 제20권A호
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• pp.39-44
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• 2000

Highly viscous biopolymer from alkali-tolerant Bacillus sp. was purified and its solution properties were investigated. The intrinsic viscosities for crude biopolymer and biopolymers purified by dialysis or CPC(cetylpyridinium chloride) treatment were 58.24, 73.60 and 42.18 dL/g, respectively. The intrinsic viscosity of biopolymer showed the maximum value at the neutral pH but it was decreased remarkably at the alkaline or acidic pH. Biopolymer exhibited the property of polyelectrolyte, showing the sharp decrease of intrinsic viscosity by the addition of NaCl. Intrinsic viscosity of dilute solution at the low NaCl concentration was exponentially dependent on temperature and its temperature dependency was increased with NaCl concentrations. The chain stiffness, coil overlap parameter, and critical concentration were 0.09, 5.25 and 0.07g/dL, respectively. Temperature dependency on intrinsic viscosity of biopolymer solution was different each other at $45^{\circ}C$. Flow activation energies at temperatures above $45^{\circ}C$ were constant, while those at temperatures below $45^{\circ}C$ increased with increase of added NaCl concentration.

• International Journal of Internet, Broadcasting and Communication
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• 제12권3호
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• pp.226-232
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• 2020

Repetition of landing with visual control in sports and training is common, yet it remains unknown how landing with visual control affects postural stability and lower limb kinetics. The purpose of this study was to test the hypothesis that landing with visual control will influence on lower limb control for intrinsic dynamic postural stability. Kinematics and kinetics variables were recorded automatically when all participants (n=10, mean age: 22.00±1.63 years, mean heights: 177.27±5.45 cm, mean mass: 73.36±2.80 kg) performed drop landings from 30 cm platform. Visual control showed higher medial-lateral force, peak vertical force, loading rate than visual information condition. This was resulted from more stiff leg and less time to peak vertical force in visual control condition. Leg stiffness may decrease due to increase of perturbation of vertical center of gravity, but landing strategy that decreases impulse force was shifted in visual control condition during drop landing. These mechanism explains why rate of injury increase.

• 한국식품조리과학회지
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• 제4권1호
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• pp.17-26
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• 1988

The polysaccharide produced by pseudomonas elodea, Gellan gum, was rheologically characterized, compared with agar. Rheological properties were determined from the change in the value of intrinsic viscosity with the pH and salt concentration. At the range of pH 2∼ll and salt 0∼0.16M KC1, the intrinsic viscosity of Gellan gum ranged from 8.8 to 21.2dl/g and agar ranged from 1.97 to 11.46d1/g. In the absence of salt, the intrinsic viscosity of Gellan gum increased as the pH of solution increased up to neutral pH then decreased slightly at alkaline pH, whearas the intrinsic viscosity of agar increased as the pH of solution increased up to pH 9 then decreased slightly. Intrinsic viscosity of Gellan gum and agar decreased with an increase in salt concentration. The chain stiffness parameter for the Gellan gum was 0.033. The overlap parameter of Gellan gum and agar were 0.047g/dl and 0.087g/dl, respectively. Gellan gum and agar were shear rate dependent or pseudoplastic. The yield stress and proportionality constant of Gellan gum increased slightly as the concentration increase, on the other hand, the shear index of Gellan gum showed a maximum at 0.75g/dl and gradually decreased as the concentration increase. The apparent viscosity of Gellan gum and agar decreased as the temperature increase. A lower concentration of the divalent cations calcium and magnesium is required to obtain maximum gel strength than for the monovalent cations sodium and potassium.

• Tribology and Lubricants
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• 제11권2호
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• pp.44-55
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• 1995

Frictional characteristics with the change of dynamic parameters, such as stiffness, inertia and damping, in the friction measurement at dry sliding surfaces were experimentally and theoretically investigated throughout the study. Dynamic frictional force and the variation in the normal load were mainly measured at the various conditions of system dynamic parameters with which stiffness in the normal direction, loading mechanisms and test materials were varied. For the normal load, mechanisms using both a dead weight and a pneumatic cylinder were applied, which resulted in change of the inertia and damping of the test rig. Test materials were steel, rosin and PTFE, which have different types of intrinsic frictional characteristics. Test results showed that frictional characteristics under different dynamic parameters could be different even though the operating variables were the same and also they could result in the variation in the normal load, which could consequently affect the wear mechanism.