• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2753-2758
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• 2003

Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2001년도 봄 학술발표회 논문집
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• pp.443-448
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• 2001

This paper presents a bond characteristics of high strength steel reinforced concrete members. High strength steel is what yield strength is higher than that of normal strength steel. So, the amount of flexural steel needed in R.C. members can be decreased. In result, it is expected that the workability and structure quality can improve and man power can minimize. For this purpose, specimens were made and tested with experimental parameters, such as concrete strength, steel diameter and yield strength. The result showed that under same tensile force of steel, in case of substituting normal strength steel with high strength steel, maximum bond stress increased and development length didn't almost change. In addition, the governing equation of bond and bond stress verse slip relationship were derived and compared with test values such as maximum bond stress, slip and bond stiffness.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 춘계학술대회 논문집
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• pp.299-307
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• 2005

The 180 km/h Korean Tilting Train(TTX) which is now developing as a part of the Korean National R&D project, was elaborately designed. As the tilting trains run curve track with the $30\%$ higher speed than normal trains, the higher centrifugal and dynamic force are expected. Furthermore the complex tilting system increase the probability of failure. Therefore it is very important for tilting train to ensure safety against derailment under the various kind of failed condition in the middle of running as well as normal operating condition. The TTX train have the relatively high roll stiffness to improve the lateral ride comfort and to limit the roll displacement on the curve. But the higher roll stiffness increase the risk of derailment on the twisted track. This paper describes the study to review the safety against derailment caused by the wheel unloading on the severely twisted track. The worst combination of maximum cant change with maximum twist defect was established by numerical simulation. And also it was assumed that the air bag deflated and still the train run its speed limit. Those kind of assumption might be the worst case from the view point of wheel unloading derailment on the twisted track. The dynamic simulation was done by means of VAMPIRE S/W and non-linear transient analysis. We found that derailment quotients Q/P was only slightly influenced by track twist but the wheel unloading was greatly influenced. And we ascertained that the higher roll stiffness the higher wheel unloading. In case of air bag deflated situation, the wheel unloading reached up to $100\%$ which means the wheel lift or jumped. Therefore it was concluded that the design need to be improved to ensure the safety against derailment on the maximum twisted track in case of air bag deflated and tilting train's speed limit.

• 대한기계학회논문집A
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• 제40권11호
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• pp.963-970
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• 2016

본 연구는 가속페달에 반력을 생성하여 운전자의 경제운전을 유도하기 위한 에코페달의 설계와 성능 검증을 다룬다. 에코페달의 제어로직은 사전에 설정된 "허용가속도"를 바탕으로 현재 속도에서 허용되는 연료소비량을 정하고 이를 실제 연료소비량과 비교하여 에코페달의 작동을 결정하는 방식을 제안하였다. 폐달 반력은 운전자가 충분히 인지하되 불쾌감을 느끼지 않아야 하며, 차량의 정상 거동에 간섭이 없어야 한다. 스텝형과 램프형 반력 등과 같이 페달 답력이 급속하게 증가하는 형태의 반력은 반력 작동이 멈춘 직 후 운전자의 답력에 의한 급작스러운 가속 현상 때문에 적용이 어렵고, 이러한 문제가 없는 진동형 반력을 채택하였다. 진동형 반력의 주파수, 진폭, 작동시간은 운전자의 주관적 평가와 연비 향상 효과를 고려하여 결정하였다. 본 연구에서 제안된 에코페달을 차량에 장착하여 주행시험을 실시한 결과 고속도로와 시내주행에서 각각 13%와 15%의 연비향상 효과를 보여주었다.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• Journal of Animal Science and Technology
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• 제66권5호
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• pp.1069-1078
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• 2024

Woody breast (WB) is one of muscle myopathy found in chicken breast, characterized with enlarged size and extremely stiff texture. The WB condition is one of the most prevalent quality issues in the modern poultry industry. WB has been shown to be heritable, but no effective detection method of WB severity in live birds exists for the selection purpose. The objective of this study was to determine potential of a non-invasive, portable digital palpation device as WB detection method that can be used for the selection to estimate the heritability of WB. The physical and functional properties of WB was also investigated in comparison with normal breast (NB). Two hundred ten breast muscles were obtained from a local processing plant one day after harvest and sorted based on WB scoring (1 for NB and 2 and 3 for WB). The samples were subjected to physical and physicochemical analyses, determining biomechanical properties (muscle tone, stiffness, elasticity, relaxation, and creep), pH, color, cooking yield, and texture (firmness and compression energy were used for raw meat and shear force and energy for cooked meat). The least squares means of the following variables were significantly different between WB and NB (p < 0.01): stiffness (603.4 vs 565.8; N/m), and elasticity (1.40 vs 1.55). However, relaxation and creep were not significantly different (p > 0.05). These results collectively showed that biomechanical properties of WB differ from NB. The degree of muscle stiffness in WB can be considered as a trait to be selected. The WB score showed strong negative correlations with cooking yield (-0.77) and cooked L^*(-0.74), which means that as the breast becomes harder, the cooking yield decreases, and the color becomes darker after cooking. The WB score showed high correlations with physical and functional characteristics and exhibited strong correlations with the biomechanical properties measured by the device. Therefore, the results indicated that the digital palpation device has potential to detect the WB severity (degree of stiffness) of breast muscle.

• 대한인간공학회지
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• 제29권3호
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• pp.357-364
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• 2010

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.

• 한국구조물진단유지관리공학회 논문집
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• 제8권1호
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• pp.195-202
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• 2004

일반적으로 쉘 표면에 수직한 압력은 변형 전 쉘 표면에 수직한 방향으로 작용한다고 가정하고 쉘 표면의 변형으로 인한 표면적의 변화를 고려하지 않음으로써 이에 의한 변형에너지를 무시한다. 그러나, 변형된 쉘 표면에 수직으로 작용하는 압력은 고유진동수와 좌굴하중에 큰 영향을 미칠 수 있다. 본 연구에서는 구조물의 변형에 의한 쉘 단면적의 변화와 압력의 방향변화에 대한 변형에너지를 구하고 이를 변분하여 부가매트릭스를 산정하였다. 이를 축대칭요소에 추가하여 전산구조해석을 통해 외압의 부가효과를 고려한 고유진동수를 계산하였다. 외압의 크기가 증가함에 따라 쉘 구조물의 고유진동수는 감소하며, 고유진동수가 영이 될 때의 외압의 크기를 좌굴하중으로 볼 수 있다. 이를 이용하여 정해가 존재하는 원통 쉘에 적용한 결과 유사한 해를 얻을 수 있었으며, 부가효과를 고려하지 않았을 경우는 상당한 차를 나타내었다. 그러나, 반구형 돔에서는 원통 쉘에 비해 압력의 부가효과가 거의 나타나지 않는 것으로 나타났다.

• Structural Engineering and Mechanics
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• 제34권3호
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• pp.351-366
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• 2010

A novel system identification and structural health assessment procedure of steel framed structures with semi-rigid connections is presented in this paper. It is capable of detecting damages at the local element level under normal operating conditions; i.e., serviceability limit state. The procedure is a linear time-domain system identification technique in which the structure responses are required, whereas the dynamic excitation force is not required to identify the structural parameters. The procedure tracks changes in the stiffness properties of all the elements in a structure. It can identify damage-free and damaged structural elements very accurately when excited by different types of dynamic loadings. The method is elaborated with the help of several numerical examples. The results indicate that the proposed algorithm identified the structures correctly and detected the pre-imposed damages in the frames when excited by earthquake, impact, and harmonic loadings. The algorithm can potentially be used for structural health assessment and monitoring of existing structures with minimum disruption of operations. Since the procedure requires only a few time points of response information, it is expected to be economic and efficient.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.626-632
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• 2013

When a conductive rod is put within rotating axial magnet wheels arranged parallel, three-axial magnetic forces generate on the rod. In some region, the forces has a property of negative stiffness, thus they can be applied to noncontact conveyance of the rod without a control load. Apart from the passive driving, the magnet wheel should be controlled for the rod to be stayed at the still state or be moved in a specified velocity. But, because a control input is just the rotating speed of the magnet wheel, the number of input is less than that of variables to be controlled. It means that levitation force and thrust force increase at the same time for increasing wheel speed, resulting from a strong couple between two forces. Thus, in this paper, a novel method, in which the longitudinal motion of the rod is controlled indirectly by the normal motion of the rod with respect to the wheel center, is introduced to manipulate the rod without mechanical contact on space.