• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1075-1088
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• 1992

This paper presents techniques used to model a two arm experimental robot. Both arms are compliant and the robot operates in a vertical plane and is therefore influenced by gravity. The robot is being built to study different control strategies for robots containing compliant members. The system is built with extremely flexible members. This limits the required bandwidth of the control electronics, and mimics the flexible motions that are observed for stiffer faster robots. The objective of this paper is to develop a reduced order model of the robot system and to experimentally validate the model. Validation requires that the model includes gravitational effects. Therefore, an assumed modes model is developed which facilitates modeling of gravitational effects. In order to select the order and mode shapes for the model, an analytical solution is derived for a linearized continuous model. This is compared to the assumed modes model to determine the number of mode shapes needed to model the system. The final model, which includes shortening effects, correlates very well with experimental results.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.190-190
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• 1999

박막 표면에 대한 경원소 분석법인 탄성 되튐 반도법을 개발하여 수소, 탄소, 질소등 분석에 이용하고 있다. 이때 입사 입자로 Cl 9.6MeV를 이용하였는데, 표적 표면에 탄소막이 흡착되는 현상을 발견하였다. cold trap 및 cold finger를 사용하여 진공도를 개선하므로서, 탄소막 흡착의 한 원인으로 알려져 잇는 chamber 주변의 진공도 변화를 시켜보았다. 하지만 전혀 탄소막이 생기지 않는 10-10torr 이하 진공을 만드는 것은 많은 비용과 장비를 필요로 하는 상당히 힘든 작업이어서, 이차적으로 탄소막이 표적 표면에 달라 붙게 하는 원인으로 추정되는 이차 전자의 발생을 고에너지 이온빔으로 조사하였다. 일반적으로 이차전자의 발생은 이온빔과 표적과의 충돌에 의한 고체 표면으로부터의 전자방출 현상으로 오래전부터 연구되어져 왔다. 여기에는 두가지 다른 구조가 존재하는 것으로 알려져 있다. 그 중 하나는 입사 입자의 전하와 표적 표면사이 작용하는 potential 에너지가 표적 표면의 일함수(재가 function) 보다 클 때에 일어나는 potential emission이다. 즉 표적 궤도에 존재하는 전자와 입사 이온빔 사이의 potential 이 표적의 전자를 들뜨게 만들고, 이 potential의 크기가표적의 표면 장벽 potential 보다 충분히 클 뜸 전자가 방출하는 현상을 말한다. 다른 또 하나의 방출구조로는 입사 이온이 표적 표면의 원자와의 충돌에 의해 직접저인 에너지 전달을 통한 전자 방출을 말하는데, 이를 kienetic emission(이하 KE)이라 한다. 본 연구에서는 Tandem Van de graaff 가속기로 고에너지 이온빔을 만들어 Au에 충돌시키므로서 kinetic emission을 통하여 Au에서 발생한는 이차전자의 방출 수율 및 에너지를 측정하였다.장구조로 전체 성장 양식을 예견할 수 있다. 일반적인 경향은 Ep가 커질수록 fractal 성장형태가 되며, Ed가 적을수록 cluster 밀도가 작아지나, 같은 Ed+Ep에 대해서는 동일한 크기의 팔 넓이(수평 수직 방향 cluster 두께)를 가진다. 따라서 실험으로부터 얻은 cluster의 팔 넓이로부터 Ed+Ep 값을 결정할 수 있고, cluster 밀도와 fractal 차원으로부터 각각 Ed와 Ep값을 분리하여 얻을 수 있다. 또한 다층 성장에 대한 거칠기(roughness) 값으로부터 Es값도 구할 수 있다. 양방향 대칭성을 갖지 않은 fcc(110) 표면과 같은 경우, 형태는 다양하지만 동일한 방법으로 추정이 가능하다. (110) 표면의 경우 nearest neighbor 원자가 한 축으로 형성되고 따라서 이 축과 이것과 수직인 축에 대한 상호작용이나 분산 장벽 모두가 비대칭적이다. 따라서 분산 장벽도 x-축, y-축 방향에 따라 분리하여 Edx, E요, Epx, Epy 등과 같이 방향에 따라 다르게 고려해야 한다. 이러한 비대칭적인 분산 장벽을 고려하여 KMC 시뮬레이션을 수행하면 수평축과 수직축의 분산 장벽의 비에 따라 cluster의 두께비가 달라지는 성장을 볼 수 있었고, 한 축 방향으로의 팔 넓이는 fcc(100) 표면의 경우 동일한 Ed+Ep값에 대응하는 팔 넓이와 거의 동일한 결과가 나타나는 것을 볼 수 있다. 따라서 이러한 비대칭적인 모양을 가지는 성장의 경우도 cluster 밀도, cluster 모양, cluster의 양 축 방향 길이 비, 양 축 방향의 평균 팔 넓이로부터 각 축 방향의 분산 장벽을 얻어낼 수 있을 것으로 보인다. 기대할 수 있는 여러 장점들을 보고하고자 한다.성이 우수한 시편일수록 grain의 크기가 큰 것으로 나타났고 결정성이 우수한 시편의 경우에서는 XR

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.107-116
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• 1993

In the design and operation of robitic arm with flexible links, the equation of motion are required to exactly model the interaction between rigid body motion and elastic motion and to be formulated efficientlyl. In this paper, the flexible link is represented by applying the D-H rigid link representation method to measure the elestic deformation. And the equations of motion of robotic arm, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated from the principle of virtual power. Dynamic characteristics due to elastic deformation of each link are obtained by using F. E. M to model complex shaped link acurately and by eliminating elastic modes of higher order that do not largely affect motion to reduce the number of elastic degrees of freedom. Also presented is the result of simulation of flexible robotic arms whose joints are controlled by direct or PD control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.652-655
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• 2002

The embedded atom method based on the density functional theory is used for calculating ground state properties of realistic metal systems. In this paper, we had corrected constitutive formulae and parameters on the palladium for the purpose of doing Embedded Atom Method analysis. And then we have computed the properties of the palladium on the fundamental scale of the atomic structure. In result, simulated ground state properties, such as the lattice constant, elastics constants and the sublimation energy, show good agreement with Daw's simulation data and with experimental data.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Korean Journal of Applied Biomechanics
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• v.32 no.4
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• pp.128-133
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• 2022

Objective: This study was executed to compare and analyze shoulder muscle activation while using an inelastic bar and elastic bar during overhead press exercise. The stability and coordination of shoulder joints will be investigated by measuring and analyzing the EMG of the upper and lower arm muscles. Method: A total of 20 university male students were recruited by dividing into 2 groups; 10 elastic bar participants (age: 20.17 ± 0.41 yrs, height: 174.31 ± 3.34 cm, weight: 74.68 ± 5.65 kg) and 10 inelastic bar participants (age: 20.09 ± 0.23 yrs, height: 173.53 ± 4.11 cm, weight: 75.32 ± 3.31 kg) participated in this study. Results: The EMG analysis results of the four muscles measured in this study showed that there was no difference between the left and right muscles between the groups in Upper Trapezius muscle. In Deltoid, Infraspinatus, and Rectus Abdominis muscles, the elastic bar group was significantly higher than the inelastic bar group between groups, and there was no difference between left and right. Conclusion: Among the four muscles measured in this study, there was no difference between left and right in Deltoid, Infraspinatus, and Rectus Abdominis, but the elastic bar showed significantly higher muscle activity than the inelastic bar. Therefore, it was found that the elastic bar increases muscle activation during exercise than the inelastic bar, and in particular, it further increases muscle activation of the arms and torso, and exercise using the elastic bar can increase neuromuscular stabilization.

• Journal of the Korean Society for Nondestructive Testing
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• v.27 no.1
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• pp.1-7
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• 2007

As fiber reinforced composite materials are widely used in aircraft, space structures and robot arms, the study on non-destructive testing methods has become an important research area for improving their reliability and safety. AE (acoustic emission) can evaluate the defects by detecting the emitting strain energy when elastic waves are generated by the initiation and growth of crack, plastic deformation, fiber breakage, matrix cleavage, or delamination. In the paper, AE signals generated under uniaxial tension were measured and analyzed using the $8{\times}8$ matrix piezo electric sensor. The electronic circuit to control the transmitting distance of AE signals was designed and constructed. The optical data storage system was also designed to store the AE signal of 64channels using LED (light emitting diode) elements. From the tests, it was shown that the source location and propagation path of AE signals in composite materials could be detected effectively by the $8{\times}8$ matrix piezo electric sensor.

• Journal of the Korean Wood Science and Technology
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• v.16 no.1
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• pp.21-44
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• 1988

As a way for the effective utilization of pallman chips and sawdusts, these furnish materials were combined with non-woody material of plastic (polypropylene) screen in board manufacturing to improve their weak physical and mechanical properties. The conventional boards were made with conditions of specific gravity 0.40, 0.55, 0.70, and 0.85, resin content 8, 10, 12 and 14%, and number of polypropylene screen 1, 2, 3 and 4, and press-lam boards were also manufactured. The physical and mechanical properties were measured and discussed on thickness swelling, bending modulus of rupture and elasticity, tensile strength, internal bond strength, and screw holding strength. The results obtained at this study were summarized as follows: 1. In thinckness swelling both of pallman chip board and sawdust board were improved by the increase of resin content, and press-lam boards showed lower thickness swelling than conventional boards. 2. Both the modulus of rupture and elasticity were increased with the increase of specific gravity, and press-lam boards showed higher modulus of rupture and elasticity than conventional boards. On the other hand, modulus of rupture was increased with the increase of number of polypropylene screen and resin content whereas these effects in modulus of elasticity was not recognized. 3. Tensile strength was increased with the increase of specific gravity, and the boards combined with polypropylene screen showed higher tensile strength than control boards. Also tensile strength was increased with the increase of number of polypropylene screen, and press-lam boards revealed higher tensile strength than conventional boards. 4. Internal bond strength was increased with the increase of specific gravity, and the boards combined with polypropylene screen were lower in internal bond strength than control boards. Also, the boards combined with odd number of polypropylene screen showed lower internal bond strength than those combined with even number of polypropylene screen. 5. Screw holding strength was increased with the increase of resin content and specific gravity but significant difference was not approved between boards combined with polypropylene screen and control boards. In press-lam boards, pallman chip boards of higher specific gravity but sawdust boards of lower specific gravity showed better screw holding strength than control boards.

• The korean journal of orthodontics
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• v.31 no.3 s.86
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• pp.325-333
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• 2001

Optimal orthodontic treatment could be possible when a orthodontist can predict and control tooth movement by applying a planned force system to the dentition. The moment to force(M/F) ratio at the bracket, has been shown to be a primary determinate of the pattern of tooth movement. As various n/F ratios are applied to the bracket on the tooth crown, strain distribution in periodontium can be changed, and the center of rotation in tooth movement can be determined. It is, therefore, so important in clinicalorthodontics to know the strain distribution in a force system of a M/F ratio. The purpose of this study was to analyze the strain distribution in orthodontic force system by strain gauge attached to tooth root, and to evaluate the usage of the method. For this study, an experimental upper anterior arch model was constructed, where upper central incisors, on the root surface of which, 8 strain gauges were attached, were implanted In the photoelastic resin, as in the case of 4mm midline diastema. Three types of closing of upper midline diastema closure were compared : 1. with elastomeric chain(100g force) in no arch wire, 2. elastomeric chain in .016“ round steel wire, 3. elastomeric chain in .016”x.022“ rectangular steel wire. The results were as follows. 1. Strain distributions on labial, lingual, mesial and distal root surface of tooth were able to be evaluated with the strain gauge method, and the patterns of tooth rotation were understood by presuming the location of moment arm. 2. Extrusion and tipping movement of tooth was seen in closing in no arch wire, and intrusion and bodily movement was seen with steel arch wire inserted.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.993-999
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• 2008

A girder height limitation is the critical parameter for rapid construction of bridge deck and construction space limitation especially in urban area such as high population area and high density habitats. A standard post-tensioned I-shaped concrete girder usually demands relatively higher girder height in order to retain sufficient moment arm between compression force and tensile force. To elaborate this issue, a small U-shaped section with wide flanges can be used as a possible replacement of I-shaped standard girder. This prestressed concrete box girder allows more flexible girder height adjustment rather than standard I-shaped post-tensioned girder plus additional torsion resistance benefits of closed section. A 30m-long, 1.7m-high and 3.63m-wide actual small prestressed concrete box girder is designed and a laboratory test for its static behaviors by applying 6,200kN amount of load in the form of 4-point bending test was performed. The load-deflection curve and crack patterns at different loading stage are recorded. In addition, to extracting the dynamic characteristics such as natural frequency and damping ratio of this girder, several excitation tests with artificial mechanical exciter with un-symmetric mass are carried out using operational frequency sweep-up. Nonlinear finite element analysis of this 4 point bending test under monotonic static load is investigated and discussed with aids of concrete damaged plasticity formulation using ABAQUS program.