• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1994.10a
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• pp.157-164
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• 1994

Finite element analysis of material deformation is successfully utilized to understand metal forming processes such as forging, extrusion and deep drawing. However, such analysis involves contact problems; a free node touches a die surface and a contact node slips along the die surface. In the present investigation, appropriate contact algorithms were developed assuming that a three dimensional surface can be divided into bilinear patches and that nodal velocities are linear during an incremental time. The algorithms were coded into a computer program and tested for a simple surface. Comparison of the test result with that obtained from a commercial code is presented and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2016-2025
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• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1545-1553
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• 1989

The ohmic contact behavior in HEMT structure was compared with that in MESFET one throughout the specific contact resistance and microstructural change in both structures. A Au-Ge-Ni based metallization scheme was used and the alloying temperature of the ohmic materials was changed from 330\ulcorner to 550\ulcorner. The alloying temperature to obtain the minimum specific contact resistance in HEMT structure was 60k higher than that in MESFET. The volume fraction of NiAs (Ge) in MESFET structure increases with alloying temperature and/or the alloying time, which makes the decrease of specific contact resistance at the initial stage of ohmic metallization. In contrast, the volume fraction of NiAs(Ge) in HEMT structure was not dependent upon the specific contact resistance, which implies that the ohmic contacts are dominantly formed by the Ge diffusion to 2-DEG(two dimensional electron gas) layer.

• Journal of KSNVE
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• v.8 no.3
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• pp.513-523
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• 1998

Impact response of a vibro-impact system and its contact mechanism was studied. The vibro-impact system is composed of a small secondary system is constrained to move along a slot of fixed length in a large primary system. The contact mechanism is characterized by its coefficient of restitution. Numerical simulation analysis has been used to determine the time-history and the impact statistics of the primary and secondary systems. Input excitation of the primary system was random, and the responses obtained were the velocities of the primary and secondary system, the closing velocity in time axis and the duration time between impacts. The validity of the numerical simulation method was checked by comparing the results with those obtained by other researchers analytically. It is shown that the results obtained by the nemerical simulation analysis showed a good agreement with those for the analytical method.

• Structural Engineering and Mechanics
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• v.21 no.2
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• pp.205-220
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• 2005

This paper presents the possibilities of adapting artificial neural networks (ANNs) to predict the dimensionless parameters related to the maximum contact pressures of an elasticity problem. The plane symmetric double receding contact problem for a rigid stamp and two elastic strips having different elastic constants and heights is considered. The external load is applied to the upper elastic strip by means of a rigid stamp and the lower elastic strip is bonded to a rigid support. The problem is solved under the assumptions that the contact between two elastic strips also between the rigid stamp and the upper elastic strip are frictionless, the effect of gravity force is neglected and only compressive normal tractions can be transmitted through the interfaces. A three layered ANN with backpropagation (BP) algorithm is utilized for prediction of the dimensionless parameters related to the maximum contact pressures. Training and testing patterns are formed by using the theory of elasticity with integral transformation technique. ANN predictions and theoretical solutions are compared and seen that ANN predictions are quite close to the theoretical solutions. It is demonstrated that ANNs is a suitable numerical tool and if properly used, can reduce time consumed.

• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.244-253
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• 2024

This paper presents a novel stem-cutting device using a twisted string actuation system combined with the cinch bag-typed gripper proposed in previous research. The suggested cutting device was developed to cut the stem of a tomato using two motors. The relationship between contact time and motor angle was mathematically induced, and the contacting time was verified through the experiments. The contact time has decreased as the offset of each pair of strings at the disk increases. The contact time and its deviation were reduced by increasing the radius of the twisted string bundle, and the motor torque to exert an equivalent cutting force was surged at the same time. The proposed cutting mechanism with 16 strands of twisted string bundle and 40 mm of offset can cut the given tomato stems and stalks, exerting up to 132.4 N of cutting force in 4.6 to 6.5seconds.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.4C
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• pp.277-282
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• 2012

In this paper, we present a real-time eye contact system for realistic telepresence using a Kinect depth camera. In order to generate the eye contact image, we capture a pair of color and depth video. Then, the foreground single user is separated from the background. Since the raw depth data includes several types of noises, we perform a joint bilateral filtering method. We apply the discontinuity-adaptive depth filter to the filtered depth map to reduce the disocclusion area. From the color image and the preprocessed depth map, we construct a user mesh model at the virtual viewpoint. The entire system is implemented through GPU-based parallel programming for real-time processing. Experimental results have shown that the proposed eye contact system is efficient in realizing eye contact, providing the realistic telepresence.

• Journal of Industrial Technology
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• v.36
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• pp.45-48
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• 2016

The purpose of this study is to evaluate and compare wettability and setting time of twelve polyvinylsiloxane impression pastes. For comparing the wettability, the contact angle of a water drop on the impression materials was measured. It is important for impression materials to have higher wettability when trying to make impressions of interproximal spaces and gingival crevices. The higher wettability the better the material will flow into these spaces and the more accurate the impression. An ideal impression material will have adequate working time but a fast intraoral setting time. The clinician needs time to inject material into the sulcus, place the impression material into the tray and position it in the mouth, but the material should set rapidly to reduce time in the patient's mouth. It is considered that the results obtained in this study will provide guideline information for the manufacturing of impression materials and for selecting appropriate impression materials.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.662-665
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• 2008

We experimentally investigate the evaporation characteristics of water droplet on surfaces of various wettabilities in the range of contact angle from 30$^{circ}$ to 150$^{circ}$. When a liquid droplet on a solid surface evaporates, the contact angle generally decreases with time and the evaporation rate varies with the droplet geometry such as the contact angle and the radius of curvature. Experimental data on the contact angle as a function of the droplet volume obtained by digital image analysis techniques cannot be explained by the existing theories. By measuring the temporal evolutions of the droplet radius and contact angle, we find the qualitative difference between the evaporation patterns on the hydrophilic surfaces where the contact radius remains constant initially and those on the superhydrophobic surfaces where the contact angle remains constant. Also, the evaporation rate is observed to depend on the surface material although the currently available models assume that the rate is solely determined by the droplet geometry. Despite the fact that the theory to explain this dependence on the surface remains to be pursued by the future work, we give the empirical relations that can be used to predict the droplet volume evolution for each surface. It is expected that the present study will contribute to interpreting the effect of droplet geometry on the evaporation.