• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.771-780
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• 2010

This paper describes the design process of a six-component force/torque (F/T) sensor. The new six-component F/T sensor having leaf spring ends has been developed using a cross beam structure as the basic sensing element. Fundamental strain analysis of both ends fixed beam having a leaf spring structure is performed by finite element analysis. In order to obtain similar output sensing strains from the six component loads and minimize coupling strains, the optimal location of strain gages is determined and the strain gages are connected so that the bridge circuits with four strain gages would be balanced. Using leaf spring ends instead of rigid fixed ends, remarkable increment in output sensing strain can be achieved for two component forces. Several modifications in design result in a similar sensing strain of approximately $400\;{\mu}m/m$ for the six-component forces and moments, and a reduced coupling strain of $0\;{\mu}m/m$ between the forces and moments.

• Journal of Bio-Environment Control
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• v.22 no.3
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• pp.284-290
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• 2013

This study analyzed the geometric, compressive, cutting and friction properties of oriental melons in order to design a gripper capable of soft handling and a cutter for cutting oriental melon vine among the end effector of oriental melon as a preliminary step for developing the end effector of the robot capable of harvesting oriental melons in protected cultivation. As a result, the average length, diameter at the midpoint, weight, volume and roundness of the oriental melons were 108 mm, 70 mm, 188 g, 333 mL and 3.8 mm. Nonlinear regression analysis was performed on the equation $W=L^a{\times}D_2^b$ with variation of the length (L) and diameter (D2) of the weight (W) of the oriental melons. As a result, it was shown that there was a correlation between a of 2.0279 and b of -0.9998 as a constant value. The average diameter of the oriental melon vine was 3.8 mm, and most vines were distributed within a radius of 5 mm from the center. The average yield value, compressive strength and hardness of the oriental melons were $36.5N/cm^2$, $185.7N/cm^2$ and $636.7N/cm^2$, respectively. The average cutting force and shear strength of the oriental melon vines were $2.87{\times}10^{-2}\;N$ and $5.60N/cm^2$, respectively. The maximum friction coefficient of the oriental melons was rubber of 0.609, followed by aluminium of 0.393, stainless steel of 0.177 and teflon of 0.079. It was considered possible to apply it to the size of the gripper and cutter, turning radius, dynamics of drive motor and selection of materials and their quality in light of the position error and safety factor according to the movement when designing end effector based on the analyzed data.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.40 no.10
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• pp.629-636
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• 2016

This study presents the development of an acid resistance velocity sensor that is used for measuring velocity inside a copper sulfate plating bath. First, researchers investigated the acid resistance coating to confirm the suitability of the anti-acid sensor in a very corrosive environment. Then, researchers applied signal processing methods to reduce noise and amplify the signal. Next, researchers applied a pressure-resistive sensor with an operation amplifier (Op Amp) and low-pass filter with high impedance to match the output voltage of a commercial flowmeter. Lastly, this study compared three low-pass filters (Bessel, Butterworth and Chebyshev) to select the appropriate signal process circuit. The results show 0.0128, 0.0023, and 5.06％ of the mean square error, respectively. The Butterworth filter yielded more precise results when compared to a commercial flowmeter. The acid resistive sensor is capable of measuring velocities ranging from 2 to 6 m/s with a 2.7％ margin of error.

• Journal of the Korean Geotechnical Society
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• v.24 no.8
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• pp.5-12
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• 2008

Biot proposed the frequency dependent formulation for the propagation of elastic waves in saturated media based on the coupled theory mixtures. Based on Biot theory, a special frequency called 'the characteristic frequency' contains unique information of the permeability of soils. The characteristic frequency is measured from I/Q (inverse quality factor) versus frequency curve by an acoustic sweep test, and the permeability of soils is computed from Biot equation. In this paper, laboratory tests are performed at The University of Mississippi using a large test box. The measured characteristic frequency is consistently obtained at 3500 Hz for mortar sands. The computed permeability of mortar sands based on Biot equation turned out 2.01 $10^{-4}m/sec$, while the permeability from the laboratory constant head test turned out 1.49 $10^{-4}m/sec$. This paper addresses the theoretical background and experimental procedure of this technique.

• Geophysics and Geophysical Exploration
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• v.10 no.3
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• pp.191-202
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• 2007

To identify the detailed attenuation structure in the southern Korean Peninsula, a numerical test was conducted for the Q tomography inversion to be applied to the accumulated dataset until 2005. In particular, the stochastic pointsource ground-motion model (STGM model; Boore, 2003) was adopted for the 2D Q tomography inversion for direct application to simulating the strong ground-motion. Simultaneous inversion of the STGM model parameters with a regional single Q model was performed to evaluate the source and site effects which were necessary to generate an artificial dataset for the numerical test. The artificial dataset consists of simulated Fourier spectra that resemble the real data in the magnitude-distance-frequency-error distribution except replacement of the regional single Q model with a checkerboard type of high and low values of laterally varying Q models. The total number of Q blocks used for the checkerboard test was 75 (grid size of $35{\times}44km^2$ for Q blocks); Q functional form of $Q_0f^{\eta}$ ($Q_0$=100 or 500, 0.0 < ${\eta}$ < 1.0) was assigned to each Q block for the checkerboard test. The checkerboard test has been implemented in three steps. At the first step, the initial values of Q-values for 75 blocks were estimated. At the second step, the site amplification function was estimated by using the initial guess of A(f) which is the mean site amplification functions (Yun and Suh, 2007) for the site class. The last step is to invert the tomographic Q-values of 75 blocks based on the results of the first and second steps. As a result of the checkerboard test, it was demonstrated that Q-values could be robustly estimated by using the 2D Q tomography inversion method even in the presence of perturbed source and site effects from the true input model.