• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.365-366
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• 2002

The sliding wear behavior of ultra high molecular weight polyethylene (UHMWPE) was examined on a novel low temperature degradation-free zirconia/alumina composite material and conventional alumina and zirconia ceramics used for femoral head in total hip joint replacement. The wear of UHMWPE pins against these ceramic disks was evaluated by performing linear reciprocal sliding and repeat pass rotational sliding tests for one million cycles in bovine serum. The weight loss of polyethylene against the novel low temperature degradation-free zirconia/alumina composite disks was much less than those against conventional ceramics for all tests. The mean weight loss of the polyethylene pins was more io the linear reciprocal sliding test than in the repeal pass rotational sliding lest for all kinds of disk materials. Neither the coherent transfer film nor the surface damage was observed on the surface of the novel zirconia/alumina composite disks during the test. The observed r,'stilts indicated that the wear of the polyethylene was closely related to contacting materials and kinematic motions. In conclusion, the novel zirconia/alumina composite leads the least wear of polyethylene among the tested ceramics and demonstrates the potential as lhe alternative materials for femoral head in total hip joint replacement.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.2
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.2 no.3
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• pp.84-89
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• 2003

The joint method and characteristics of lubricant Impregnated MC nylon and metal are analyzed. Considering the productivity and economics, two materials are Joined with the process of turning, knurling, and induction heating. The Joint strength is determined by adhesion of the melted nylon, the size of knurl, and the interference from the difference of the diameters. The parameters affecting induction heating process are analyzed. The adhesion strength of the melted nylon is measured. Finally the joint strength is analyzed in the environments of low, room, and high temperature. The nylon/metal Joined material is expected to be widely used as the sliding machine elements with good friction and shear strength.

• Structural Engineering and Mechanics
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• v.6 no.1
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• pp.63-76
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• 1998

This paper presents dynamic responses of structures with sliding base which limits the translation of external loads from ground excitation. A discrete element model based on the discontinuous deformation analysis method is proposed to study this sliding boundary problem. The sliding base is simulated using sets of fictitious contact springs along the sliding interface. The set of contact spring is to translate friction force from ground to superstructure. Validity of the proposed model is examined by the closed-form solutions of an idealized mass-spring structural model subjected to harmonic ground excitation. This model is also applied to a problem of a three-story structural model subjected to the ground excitation of 1940 El Centro earthquake. Analyses of both sliding-base and fixed-base conditions are performed as comparisons. This study shows that using this model can simulate the dynamic response of a sliding structure with frictional cut-off quite accurately. Results reveal that lowering the frictional coefficient of the sliding joint will reduce the peak responses. The structure responses in little deformation, but it displaces at the end of excitation.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• The Journal of Korean Physical Therapy
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• v.27 no.1
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• pp.24-29
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• 2015

Purpose: The purpose of this study was to investigate the effect of lower limb training using a sliding rehabilitation machine on the foot motion and stability in stroke patients. Methods: Thirty participants were allocated to two groups: Training group (n=15) and Control group (n=15). Subjects in the control group received physical therapy for 30 minutes, five times per week, and those in the training group received lower limb training using a sliding rehabilitation machine for 30 minutes, five times per week, with physical therapy for 30 minutes, five times per week, during a period of six weeks. Heel rotation, hallux stiffness, foot balance, metatarsal load, toe out angle, and subtalar joint flexibility were measured by RS-scan. Results: Significant improvement of the foot motion (hallux stiffness, meta load) and the foot stability (toe out angle, subtalar joint flexibility) was observed in the training group. Conclusion: This study demonstrated that lower limb training using a sliding rehabilitation machine is an effective intervention to improve the foot motion and stability.

• Structural Engineering and Mechanics
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• v.43 no.1
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• pp.53-70
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• 2012

Sliding cable joints have been developed for the cable dome structures and the suspen-dome structures to reduce the cable pre-stressing loss and obtain a uniform inner force in each hoop cable. However, the relevant investigation is less addressed on the structural behavior of the cable dome structures and the suspen-dome structures with sliding cable joints due to the lack of analysis techniques. In this paper, a closed sliding polygonal cable element was established to analyze the structural behavior of the cable dome structures and the suspen-dome structures with sliding cable joints. The structural behaviors with sliding cable joints were obtained.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.1
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• pp.55-61
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• 2017

Recently several researches have been conducted to develop sliding track system in which friction between concrete track and bridge slab has been reduced. This paper investigated shear load carrying capacity of lateral supporting concrete block which should be implemented to resist lateral load due to train in sliding track system. In order to evaluate shear load carrying capacity of lateral supporting concrete block, analytical model has been developed considering concrete friction and rebar dowel action along construction joint. The proposed model predicted test results on the shear load carrying capacity from literature conservatively by 13~23% because effect of aggregate interlock along crack surface was neglected. Since construction joint status is ambiguous on construction site, it can be concluded that the proposed model can be used for reasonable design of lateral supporting concrete block. Based on the proposed model, design proposal for lateral supporting concrete block has been established.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.6 s.165
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• pp.903-911
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• 1999

A high speed tracking control system for 6-6 Stewart platform manipulator is designed for performing the model based joint-axis sliding mode control. Because of the complex dynamics and kinematics of the Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system makes the convenience in implementation of model based tracking control, so that it can achieve effective tracking control under relatively high speed and additional payload conditions.