• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.5
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• pp.899-909
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• 1992

An iterative solution technique is presented to analyze the dynamic systems of rigid bodies subjected to kinematic constraints. Lagrange multipliers associated with the constraints are iteratively computed by monotonically reducing an appropriately defined constraint error vector, and the resulting equation of motion is solved by a well-established ODE technique. Constraints on the velocity and acceleration as well as the position are made to be satisfied at joints at each time step. Time integration is efficiently performed because decomposition or orthonormalization of the large matrix is not required at all. An acceleration technique is suggested for the faster convergence of the iterative scheme.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.665-666
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• 2006

In precision laser microfabrication, focusing is essential to acquire good machining precision and uniform machining quality. If it does not perform, laser machining cannot be realized. So, confocal scanning method with high depth resolution is used for focus detection technique. This paper is concerned with a procedure for design, analysis and performance test of an autofocus fine actuating stage, which is composed of flexure-hinge type lever mechanism and piezoelectric actuator. Through series of analytical design, the stage is simplified as a rigid bodies(lever and main body) and springs(flexure hinges). The simplified model was applied to determine the dimension of flexure hinges and lever. After structural analysis confirmed design requirement, an actual stage was made and verified through an experiment on the static and dynamic characteristics(maximum stroke and 1st natural frequency). The fabricated stage was satisfied with the design requirement.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.498-503
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• 2016

Many types of robot systems are used in the mass production line of thin film solar cells and flat panel displays. There are some issues such as the deflection and the vibration of the end-effector because robots handle large and heavy substrates at high speed. Heavy payload and high speed cause much vibration because the end-effector (fork) is made of carbon fiber reinforced polymer because of its light weightiness and sufficient stiffness. This study performs a dynamic simulation of an 8.5G solar cell substrate handling robot, including rigid and flexible bodies and a vibration controller. The fifth polynomial trajectory and the zero vibration derivative input shaping algorithm are applied. The vibration reduction is also proved in the experiments.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.5
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• The KSFM Journal of Fluid Machinery
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• v.18 no.3
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• pp.5-11
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• 2015

Ocean waves have huge amounts of energy, even larger than wind or solar, which can be extracted by some mechanical device. This can be done by creating a system of reacting forces, in which two or more bodies move relative to each other, while at least one body interacts with the waves. This moves the floater up and down. The floaters are connected to an arm structure, which are mounted on a fixed hull structure. Hence, the structure of the floater is very important. A static structural analysis with FSI (Fluid-Structure Interaction) analysis is conducted. To achieve the pressure load for the FSI analysis, the floater is simulated on a wave generator using rigid body motion. The structural analysis is done to examine the stresses on the whole system, and four types of flange and floater are optimized. The result shows that the structure of floater with wood support is the safest.

• Korean Journal of Bronchoesophagology
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• v.19 no.1
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• pp.15-18
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• 2013

Esophageal foreign body is common condition for visit emergency room, and most of them were successfully removed with endoscopy. However, in case of esophageal foreign body impaction, it can be difficult to localize the foreign body. We report a 29-year old man with esophageal foreign body impaction. We successfully localized and removed the esophageal submucosal foreign body using rigid endoscopy under C-arm guidance, avoiding more invasive procedure. The patient was followed up without any complication.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.22 no.10
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• pp.672-678
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• 2010

The purpose of this study is to develop a stacking guidance system (SGS) of containers in the mobile harbor (MH). A mobile harbor is a floating structure especially designed for loading and unloading containers from and to a large container ship. A novel stacking guidance system was proposed for unloading the container in an effective way against possible vibrations of the floating body. The guidance system works as an aid for loading containers with a wider opening for easier stacking of a container into a moving storage cell due to waves. In order to determine the most effective inclination angle of the cell-guide, this study performed the dynamic analysis of the SGS equipped in the MH subject to fluctuations of the sea. The motions of the guidance system and a container loaded were calculated using ADAMS. The simulation results of the contact force between the two rigid bodies showed that a desirable angle of the cell-guide should be around 20 degrees from the vertical. This proposed SGS can considerably reduce the loading and unloading time, and will enhance the performance of the MH.

• Journal of Species Research
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• v.9 no.4
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• pp.448-454
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• 2020

Nine free-living heterotrophic flagellates were cultured from marine intertidal sediments and freshwater sediments from Korea. These species are described with uninterpreted records based on light microscopy of living cells and reported taxonomically for the first time from Korea. Diagnostics of these species are as follows; Notosolenus hemicircularis: 9-11.8 ㎛ long with flagellar reservoir, ventrally flattened and dorsally convex with hyaline semicircular collar around short anterior neck, and 8 ridges on cell surface. Thecamonas tranhens: 4.5-7.1 ㎛ long, plastic with proboscis comprising an anterior flagellum surrounded by membranous sleeve. Bodomorpha minima: 4.5-7.0 ㎛ long, rigid with small rostrum in anterior end and active anterior flagellum. Cercomonas hiberna: 5.6-10.9 ㎛ long, very plastic with pseudopodia, cytoplasmic strand and 1 or 2 contractile vacuoles. Cercomonas pellucida: 7.5-13 ㎛ long, plastic with pseudopodia, cytoplasmic strand and single contractile vacuole. With nucleus closely connected to basal bodies. Eocercomonas echina: 4.7-6.5 ㎛ long, plastic with pseudopodia, cytoplasmic strand and 1 or 2 contractile vacuoles. Paracercomonas astra: 5.7-7.3 ㎛ long, moderately metabolic with pseudopodia, cytoplasmic strand and 1 or 2 contractile vacuoles. Paracercomonas minima: 5-9 ㎛ long, metabolic with pseudopodia, cytoplasmic strand and single contractile vacuole. Paracercomonas producta: 6.1-9.9 ㎛ long, very metabolic with pseudopodia, long cytoplasmic strand and single contractile vacuole.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.483-488
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• 2003

Frictional heating in brakes causes thermoelastic distortion of the contacting bodies and hence affects the contact pressure distribution. The resulting thermo-mechanical coupling can cause thermoelastic instability (TEI) if the sliding speed is sufficiently high, leading to non-uniform heating called hot spots and low frequency vibration known as hot judder. The vibration of brakes to the known phenomenon of frictionally-excited thermoelastic instability is estimated studying the interface temperature and pressure evolution with time. A simple model has been considered where a layer with half-thickness ${\alpha}$ slides with speed V between two half-planes which are rigid and non-conducting. The advantage of this properly simple model permits us to deduce analytically the critical conditions for the onset of instability, which is the relation between the critical speed and the growth rate of the interface temperature and pressure. Symmetrical component of pressure and temperature distribution at the layer interfaces can be more unstable than antisymmetrical component. As the thickness ${\alpha}$ reduces, the system becomes more apt to thermoelastic instability. Moreover, the evolution of the system beyond the critical conditions has shown that even if low frequency perturbations are associated with low critical speed, it might be less critical than high frequency perturbations if the working sliding speed is much larger than the actual critical speed of the system.