• 물과 미래
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• 제19권2호
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• pp.131-138
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• 1986

단일유공벽의 수리학적 특성 및 동력학적 특성에 대해서 이론 및 실험적으로 연구하였다. 굴구의 이론식을 응용하여 연구한 바에 의하면 산란파항은 파력에 거의 영향을 주지 못함을 알 수 있고 실험에 의한 연구에 의하면 유공율의 변화에 따른 파력의 거동은 매우 민감한 것으로 나타났지만 구멍의 지름에 대한 벽두께의 비(l/D)는 좀 특이한 현상을 보인다. l/D의 값이 작은 범위에서는 유공벽의 구멍을 orifice라고 할 수 있으므로, 파력이 l/D의 변황에 거의 영향을 받지 않고, 이 때의 에너지 손실계수는 굴구의 식을 이용하면 1.0으로 나타난다. 그러나 l/D의 값이 큰 범위에서는 구멍내의 흐름을 관수로의 흐름이라고 볼 수 있으므로 파력이 l/D에 민감하고 이 때의 f는 1.5로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.408-411
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• 1995

In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.

• 대한치과의사협회지
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• 제11권2호
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• pp.123-129
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• 1973

The authors measured orthodontic force using the orthodontic materials of the Rocky Mountain Products Company. The results were as follows : ① Use latex of wide diameter in long distance, and when the latex of wide diameter activated by four or five times, we obtained a optimal force. ② The authors obtained canine retractions with sectional arch. Activation of sectional arch began at 1mm and had to do not activations of 3mm more. ③ The leveling started from .014 green round wire and finished to. 0.16" green Elgiloy round wire. Permit only a mild force in ideal arch form, in rectangular wire. ④ Fundamentaly, elastic thread obtained maximum force by activating as two times. ⑤ Coil spring obtained more heavy force from short distance than long distance.

• 대한화학회지
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• 제14권1호
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• pp.133-136
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• 1970

The quadratic and cubic force constants of hydrogen molecule are calculated by use of the one center function of Bishop. The master formula on which the computation is based was suggested by the previous work of one of the present authors. The results are in good agreement with the experimental values.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.481-485
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• 2000

A new type of compliant press-fit pin has been developed and evaluated for use packaging of electronic telecommunications equipments. Main requirements for design are defined the upper limit of pin insertion force and the lower limit of pin retention force. Upper limit of pin insertion force is set to protect the copper plate of the inner PTH wall. Lower limit of pin retention force is set to satisfy a wire-wrapping specification. Results are represented by insertion force and retention force variations according to the front angle, rear angle and material, etc.

• 센서학회지
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• 제22권2호
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• pp.118-123
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• 2013

Most serious stroke patients have the paralysis of their wrists, and can't use of their hands freely. But their wrists can be recovered by rehabilitation exercise. Recently, professional rehabilitation therapeutists exercise the wrists of stroke patients in hospital. But the wrists of stroke patients have not rehabilitated, because the therapeutists are much less than stroke patients in number. Therefore, the wrist bending-exercise rehabilitation robot that can measure the bending force of the patients' wrists is developed. In this paper, the three-axis force sensor was designed for the wrist bending-exercise rehabilitation robot. As a test results, the interference error of the three-axis force sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist bending force of the patient.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.790-793
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• 1988

It has become clear that through the use of force/torque sensing many previously uneconomical or unsuccessful applications can now be performed successfully. The earlier-anticipated boom of robots dominating factory production has not yet occured. Many robot installations have not met the initial expectations of users or have failed completely, souring the prospects of future robotic applications. Yet the reason many of these earlier applications have failed is very basic, that is that the robot was expected to blindly perform a task perfectly in an imperfect environment. There must be an additional level of feedback so that the robot may adapt to these imperfections, thus ensuring the ultimate success of the application. This additional level of real-world sensing is provided by force/torque sensors and their continued use will ensure the eventual proliferation of factory robots.

• 대한조선학회지
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• 제13권2호
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• pp.13-43
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• 1976

A potential flow approach is used to develop a method and an associated computer program for floating marine structures of general configuration in wave of all water depths with arbitrary heading. It computes the total force distributions and six degrees-of-freedom motion. The hydrodynamic-force equations and derived become identical under certain assumptions to the equations commonly used by the offshore industry, and the two methods are compared in detail. The computed motions of all six degree agree quite well with model-scale and full-scale experimental data for two typical semisubmersible drilling rigs in finite-depth water. Also the presented motion computations are more accurate than a previous work by the second approach. The present computations use experimentally validated or determined values of frequency-dependent hydrodynamic coefficients with the effects of the free surface and both finite and infinite water depths. The present method generates sufficient computation accuracy to use for practical design applications.

• 대한인간공학회지
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• 제24권2호
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• pp.45-49
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• 2005

The FSA(Force Sensitive Application) system measures hand force by using force resistance sensors. Compared to conventional hand force measurement systems such as Lafayette hand dynamometer and Jamar hydraulic hand dynamometer, the FSA system can be applied to analyze use of hand forces while the hand is manipulating objects for a task, However, the measurement performance of the FSA system has not been objectively evaluated. The present study tested the FSA system in terms of stability, repeatability, accuracy, and linearity. It is shown that the FSA system has good stability (CV$\leq$0.02) and linearity($R^2$=0.82), but has low repeatability(CV=$0.11{\sim}0.19$) and accuracy(22% of underevaluation on average). This performance result indicates that measurements from the FSA system should be used for relative comparison rather than for absolute comparison.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.