• Nuclear Engineering and Technology
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• 제30권1호
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• pp.17-25
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• 1998

Transport of carbon and boron impurity ions parallel to magnetic field lines in the tokamak SOL (scrape-off layer) is numerically investigated for a one-dimensional steady state. The spatial distributions of density and velocity of the impurity ions in a steady state are calculated by finite difference method for a single-fluid model. The calculated results show that among forces acting on SOL particles thermal force produced tv plasma temperature gradient is a principal force determining the feature of impurity distribution profiles in the tokamak edge. However, strong collisional friction forces appearing dominant in front of the diverter plate restrain impurity ion flows due to temperature gradients from moving toward the midplane. Consequently, the stagnation point develops in the impurity flow by these two forces near the diverter region, in which ion flows change their directions. Impurity ions turn out to be accumulated at the stagnation points, where peaked profiles of highly-ionized state ions are relatively predominant over those of low-ionized state ions.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1993년도 추계학술대회논문집; 반도아카데미, 26 Nov. 1993
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• pp.29-34
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• 1993

In many circumstances, it is desired to move a mass from one position to another without inducing any vibration in the mass being moved. Two such problems are considered here: the motion of a pendulum initiated by the specified motion of its support. In each case, it is desired that the system start at rest and come to rest in the second position. A simple strategy for the specified motion is given here. The method is motivated by engine cam-follower design. The force required to move the system in question is determined as well as the maximum value of the force required (and the times at which these forces take place) is determined.

• 한국소음진동공학회논문집
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• 제22권3호
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• pp.253-263
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• 2012

With the local Hertz deformation on the contact point, the dynamic contact between a high-speed wheel and an elastic beam having a gap is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the time integration the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Especially the acceleration contact condition on the gap is formulated, and it is demonstrated that the contact force variation computed by the velocity contact constraint or by the acceleration contact constraint agrees well with that computed by the displacement contact constraint. The numerical examples show that, when the wheel passes on the gap, the solution is governed by the stiffness of the local Hertzian deformation.

• Clinical Endoscopy
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• 제51권6호
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• pp.552-557
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• 2018

Although colonoscopy was originally a diagnostic imaging procedure, it has now expanded to include an increasing range of therapeutic interventions. These procedures require precise maneuvers of instruments, execution of force, efficient transmission of force from the operator to the point of application, and sufficient dexterity in the mobilization of endoscopic surgical instruments. The conventional endoscope is not designed to support technically demanding endoscopic procedures. In case of colonoscopy, the tortuous anatomy of the colon makes inserting, moving, and orientating the endoscope difficult. Exerting excessive pressure can cause looping of the endoscope, pain to the patient, and even perforation of the colon. To mitigate the technical constraints, numerous technically enhanced systems have been developed to enable better control of instruments and precise delivery of force in the execution of surgical tasks such as apposing, grasping, traction, counter-traction, and cutting of tissues. Among the recent developments are highly dexterous robotic master and slave systems, computer-assisted or robotically enhanced conventional endoscopes, and autonomously driven locomotion devices that can effortlessly traverse the colon. Developments in endoscopic instrumentations have overcome technical barriers and opened new horizons for further advancements in therapeutic interventions. This review describes examples of some of these systems in the context of their applications to advanced therapeutic colonoscopy.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권4호
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• pp.1187-1208
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• 2022

One of the main goals of wireless sensor networks (WSNs) is to utilize the energy of sensor nodes effectively and maximize the network lifetime. Thus, this paper proposed a routing protocol for WSNs based on virtual force disturbing mobile Sink node (VFMSR). According to the number of sensor nodes in the cluster, the average energy and the centroid factor of the cluster, a new cluster head (CH) election fitness function was designed. At the same time, a hexagonal fixed-point moving trajectory model with the best radius was constructed, and the virtual force was introduced to interfere with it, so as to avoid the frequent propagation of sink node position information, and reduce the energy consumption of CH. Combined with the improved ant colony algorithm (ACA), the shortest transmission path to Sink node was constructed to reduce the energy consumption of long-distance data transmission of CHs. The simulation results showed that, compared with LEACH, EIP-LEACH, ANT-LEACH and MECA protocols, VFMSR protocol was superior to the existing routing protocols in terms of network energy consumption and network lifetime, and compared with LEACH protocol, the network lifetime was increased by more than three times.

• 소음진동
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• 제4권1호
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• pp.83-88
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• 1994

물체를 한 위치에서 타 위치로 잔류 진동없이 움직이려 하는 경우가 많다. 본 논문에서는 한 질량이 다른 질량과 스프링에 의해 움직이는 경우와 진자가 지지 점의 운동에 의해 움직이는 경우에 관해 논하였다. 각 경우에 있어서 시스템은 정지 상태에서 출발한 후 최종위치에서 다시 멈추는 것으로 간주하였다. 본 논문에 주어진 운동방식에 대한 기본 전략은 엔진 캠-구동자 형태의 설계시 단순화된 모형으로부터 도출되었다. 이와 같은 형태로 시스템을 움직이는데 필요한 힘과 최대힘 및 그때 소요되는 시간이 계산되었다.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.227-235
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• 2016

Heavy-weight high speed underwater vehicle(HSUV) is launched from the submerged mother ship. For the safety point of view, it is important to confirm whether the HSUV would touch the launching mother ship. In this paper, the hydrodynamic force and moment were modeled by the polynomials of motion variables and the simple lift and drag acting on a plate and cylinder which consist of the HSUV's several parts. The mother ship was assumed as the Rankine half body to consider the flow field near the moving ship. Such hydrodynamic force and moment were included in the 6 DOF equations of motion of the HSUV and the dynamic simulations for the various conditions of the HSUV until the propeller activation were performed. Developed simulation program is expected to reduce the number of expensive sea trial test to develop safety logic of the HSUV at the initial firing stage.

• Design & Manufacturing
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• 제10권2호
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• pp.29-33
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• 2016

Production machines have been more important, due to quality level of vehicle motor core is getting higher. That is why, to improve assembly fit of tooling and to be emphasized how much moving down caused of deterioration of high speed press, it is also getting more important parts as solution of problems. To analyze how much move based on condition of movement as tooling and high speed press, and to measure how much impact to embossing height caused of changing movement down. As the result of investigation, in case of material thickness 0.5mm, there is highest pull and force power when emboss height is 0.45mm. If emboss height is less than 0.45mm, pull and force power is getting lower, if emboss height is higher than 0.45mm, it is impossible to make it forming caused of changed press movement, also it has been piercing.

• Journal of Magnetics
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• 제21권4호
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• pp.635-643
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• 2016

Improvements were made in the study for the design of the conventional Eddy Current Separator (ECS) used for separating small sized non-ferrous particles in the waste. These improvements include decreasing the air gap between the material and magnetic drum, making the drum position adjustable and placing the splitter closer to the drum. Thus, small particles were separated with high efficiency. The magnetic drum was removed from inside the ECS conveyor belt system as design change and was placed as a separate unit. Hence, the force generated on the test material increased by about 5.5 times while the air gap between the non-ferrous materials and drum decreased from 3 mm to 1 mm. The non-metal material in the waste is separated before the drum in the novel design. Whereas non-ferrous metal particles are separated by falling into the splitter as a result of the force generated as soon as the particles fall on the drum. Every material that passes through the drum can be recycled as a result of moving the splitter closer to the contact point of the drum. In addition, the drum can also be used for the efficient separation of large particles since its position can be adjusted according to the size of the waste material. The performance of the novel design ECS was verified via analytical approaches, finite element analysis (FEA) and experimental studies.