• Journal of the Korean Society of Manufacturing Process Engineers
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• 제19권12호
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• pp.62-69
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• 2020

The demand for industrial robots is proliferating with production automation. Industrial robots are used in various fields, such as logistics, welding, and assembly. Generally, six degrees of freedom are required to move freely in space. However, the palletizing robot used for material management and logistics systems typically has four degrees of freedom. In designing such robots, their main parts, such as motors and reducers, need to be adequately selected while satisfying payload requirements and speed. Hence, this study proposes a practical method for selecting the major parts based on dynamic analysis using ADAMS. First, the acceleration torques for the robot motion were found from the analysis, and then the friction torques were evaluated. This study introduces a constant-speed torque constant instead of friction coefficient. The RMS torque and maximum power of each motor were found considering the above torques. After that, this study recommends the major specifications of all motors and reducers. The proposed method was applied to a palletizing robot to verify the suitability of the pre-selected main parts. The verification result shows that the proposed method can be successfully applied to the early design stage of industrial robots.

• The Transactions of the Korean Institute of Power Electronics
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• 제27권1호
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• pp.33-39
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• 2022

A multi-phase brushless direct current (BLDC) motor is widely used in large-capacity electric propulsion systems such as submarines and electric ships. In particular, in the field of military submarines, the polyphaser motor must suppress torque ripple in various failure situations to reduce noise and ensure stable operation for a long time. In this paper, we propose a polyphaser current control method that can improve efficiency and reduce torque ripple by minimizing the increase in stator winding loss at maximum output torque by controlling the phase angle and amplitude of the steady-state current during open circuit failure of the stator winding. The proposed control method controls the magnitude and phase angle of the healthy phase current, excluding the faulty phase, to compensate for the torque ripple that occurs in the case of a phase open failure of the motor. The magnitude and phase angle of the controlled steady-state current are calculated for each phase so that copper loss increase is minimized. The proposed control method was verified using hardware-in-the-loop simulation (HILS) of a 12-phase BLDC motor. HILS verification confirmed that the increase in the loss of the stator winding and the magnitude of the torque ripple decreased compared with the open phase fault of the motor.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• 제27권5호
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• pp.286-291
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• 2014

In this study, novel ultrasonic rotary motor of hexadecagon shape stator was proposed. Stator of the hexadecagon ultrasonic motor was composed of an elastic ring and ceramics. The elastic ring had sixteen sides and sixteen angular points. Eight ceramics were attached on the outer surface of the eight sides of the ring. When rotor of cylindrical shaft was inserted inside of the ring stator, central lines of the sixteen sides of the stator hold the shaft by the slight pressures(frictions). This slight pressure was a preload of the motor and it could be controlled by radius and thickness of the ring. When two sinusoidal voltages which have 90 degree phase difference were applied to each four ceramics, elliptical displacements of inner surface of the ring were obtained. These elliptical displacements of the inner surface rotated the shaft rotor through the frictions. The proposed hexadecagon ultrasonic motor was designed and analyzed by using the finite element method (FEM), depending on materials of the elastic ring. Based on the FEM results, one model of motor which showed maximum displacement at contact points was chosen and fabricated. And characteristics of the motor were compared with simulated results. When the motor was fabricated with these results, EL20ET0.5CT0.5CW2 model showed 115[rpm] speed about input voltage of 60[Vrms] at 65.6[kHz]. And the maximum torque of 6[gfcm] was obtained. From these results, the hexadecagon shaped ultrasonic motor can be used to actuator for optical device which needs detailed position control. Also it can be used to medical and portable device by reducing size and weight.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제18권10호
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• pp.794-805
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• 2017

This paper proposes a Hardware-In-Loop(HIL) Simulator for a Wind Turbine and an operational control algorithm to evaluate the performance of a wind turbine control system. It provides not only for the validation of the control logics, safety functions and H/W failure, but also for the high reliability of the wind turbines (by reducing/and the reduction of the operating expense(OPEX) through performance evaluation tests with complex scenarios. On the other hand, the proposed simulator uses MATLAB, CODER, and the PLC library to operate in synchronization with the hardware, and a real-time processing-based wind turbine module including a dynamic model and control system, wind module, grid module and host PC to manage the HIL-simulator. Several experiments were carried out under the above concept to verify the effectiveness of the proposed WT HIL-simulator.

• Journal of the korean Society of Automotive Engineers
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• 제24권5호
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• pp.98-103
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• 2002

이제 카트 정렬과 휠 셋업에 필요한 최적의 변수들을 알아보았다. 실제 세팅은 위에서 언급한 내용 이외에도 많은 것들을 고려하여야 한다. 타이어 접지력의 세팅은 경기장, 날씨, 제품의 불 균일성 등을 고려하여 야 한다. 즉, 어떤 경기장은 코너의 반경이 다른 경기 장 보다 크며 어떤 경기장은 코너가 매우 많기도 하여 세팅을 상황에 맞게 하여야 하는 것이다. 각각의 변수를 세팅할 경우는 중간 값을 취하는 것이 바람직하여 이 중간 값을 취하는 것이 바람직하며 이 중간 값을 각각의 경기장의 특성에 맞추어 변화시키면 되는 것이다. 예를 들면, 접지력이 작게 발생되는 경기장(혹은 매우 추운날씨) 에서는 캐스터를 코기 하여 초기 회전 발생이 용이하게 할 수도 있다. 또한 토우인 값을 크게 하여 타이어가 마찰을 더욱 많이 발생하여 타이어의 온도가 급격히 상승하여 원하는 접지력의 수준에 용이하게 도달할 수 있게 하는 것이다. 그러나 이러한 세팅은 다른 핸들링 문제를 야기할 수 있다는 것을 이해하여야 하며 이러한 문제를 해결하는 또 다른 노력이 필요하게 되는 것이다. 가장 중요한 것은 후륜 내측으로부터는 조종 성능을 향상시키는데 필요한 접지력을 거의 기대하지 못한다는 것이며 마찰이 적게 발생하여 손쉽게 동력 손실을 초래하고 있다는 것이다. 그러므로 회전을 할 경우에도 속도를 낮추어서는 안되며 이렇게 하이야 핸들링이 매우 용이하게 되는 것이다. 그러나 위의 설명에서도 보았듯이 일부 세팅을 변경하면 여러 곳이 그 효과가 나타난다. 예를 들어 후륜의 간격을 변화시키면 카트에서 무게이동 뿐만 아니라 회전 시에 가속이나 감속에 의한 회전 토크의 효과도 달라지게 된다. 특정한 세팅의 변화가 어떻게 작용할 것이라는 확신을 가지고 있다고 할지라도 세팅에서 가장 중요한 것은 주행 기록이다. 여기서 설명되어진 많은 내용이 주행 기록을 향상시키기를 바라는 바이다.간이 육색과 총육색소 함량에는 영향을 미치지 않는 것으로 나타났다. 관능적 특성평가 중 육색과 육즙참출은 대조구와 비교하여 CLA급여 처리구가 유의적인 차이가 없었으나, 근내지방 축적 정도와 전체적인 기호성은 대조구에 비하여 CLA 급여 처리구가 유의적으로 높은 평가를 받았다(p<0.05). 간격은 술 후 1년 후까지도 지속적으로 감소하는 경향을 보였다. 따라서 이 기간동안에는 추적관찰이 필요한 것으로 생각된다.경미하게 나타났으며, 이는 2% 흥국 첨가식이의 섭취로 인한 bromobenzene 대사 및 유해산소 해독의 촉진에 기인되기 때문일 것으로 생각된다.다.과 및 지질과산화억제효과의 순과 일치하였다. 총 flavonoid 함량은 DPPH 라디칼 제거효과에 대한 $IC_{50}$/ 값과 높은 상관관계(r=-0.9924, p<0.01)를 나타내었다.이 우수한 심근보호 효과를 나타내나, 허혈시간이 2시간을 초과하면 심근의 혈역학적 기능과 미세구조의 변화는 중등도의 저온(22∼24$^{\circ}C$)에서 유의하게 악화되었다. 이 같은 결과로 볼 때 심근 허혈시간이 2시간을 초과한다면 심근 온도를 낮추어야 할 것으로 판단된다. 7.2, with 64.0% of office workers having an average level between 6- and 9. The degree of stress was higher for females than males, for unmarried salaried and hot-tempered persons. Those not doing exercise were subject to the highest levels of stress, and those a having sufficient sleep were found to be subject to less stress.

• Transactions of the Korean Society of Mechanical Engineers B
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• 제36권1호
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• pp.31-36
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• 2012

Military vehicles, compared to conventional vehicles, require higher driving performance, quieter operation, and longer driving distances with minimal fuel supplies. The series hybrid electric vehicle can be driven with no noise and has high initial startup performance, because it uses only a traction motor that has a high startup torque to drive the vehicle. Moreover, the fuel economy can be improved if the vehicle is hybridized. In series hybrid electric vehicles, the electric generation system, which consists of an engine and a generator, supplies electric energy to a battery or traction motor depending on the vehicle driving state and battery state of charge (SOC). The control strategy determines the operation of the generation system. Thus, the fuel economy of the series hybrid electric vehicle relies on the control strategy. In this study, thermostat, power-follower, and combined strategies were compared, and a 37% improvement in the fuel economy was implemented using the combined control strategy suggested in this study.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• 제5권6호
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• pp.583-591
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• 2015

In order to evaluate the performance of TAS applied to the hybrid vehicle of the soft belt driven, acceleration performance and fuel consumption performance is to be superior to the existing vehicle. The key components of belt driven TAS(Torque Assist System), such as the engine, the motor and the battery, The key components of the driven belt TAS, such as the engine, the motor, and the battery, have a significant impact on fuel consumption performance of the vehicle. Therefore, in order to improve the efficiency at the point of view based on the overall system, the study of the power distribution algorithm for controlling the main source powers is necessary. In this paper, we propose the power distribution algorithm, applied the homogeneous analysis method in terms of fuel equivalent, for minimizing the fuel consumption. We have confirmed that the proposed algorithm is contribute to improving the fuel consumption performance satisfied the constraints considering the vehicle status information and the required power through the control parameters to minimize the fuel consumption of the engine. The optimization process of the proposed driving strategy can reduce the trial and error in the research and development process and monitor the characteristics of the control parameter quickly and accurately. Therefore, it can be utilized as a way to derive the operational strategy to minimize the fuel consumption.

• Restorative Dentistry and Endodontics
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• 제34권5호
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• pp.450-459
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• 2009

The aim of this study was to measure the initial dynamic modulus changes of light cured composites using a custom made rheometer. The custom made rheometer consisted of 3 parts: (1) a measurement unit of parallel plates made of glass rods, (2) an oscillating shear strain generator with a DC motor and a crank mechanism, (3) a stress measurement device using an electromagnetic torque sensor. This instrument could measure a maximum torque of 2Ncm, and the switch of the light-curing unit was synchronized with the rheometer. Six commercial composite resins [Z-100 (Z1), Z-250 (Z2), Z-350 (Z3), DenFil (DF), Tetric Ceram (TC), and Clearfil AP-X (CF)] were investigated. A dynamic oscillating shear test was undertaken with the rheometer. A certain volume ($14.2\;mm^3$) of composite was loaded between the parallel plates, which were made of glass rods (3 mm in diameter). An oscillating shear strain with a frequency of 6 Hz and amplitude of 0.00579 rad was applied to the specimen and the resultant stress was measured. Data acquisition started simultaneously with light curing, and the changes in visco-elasticity of composites were recorded for 10 seconds. The measurements were repeated 5 times for each composite at $25{\pm}0.5^{\circ}C$. Complex shear modulus G*, storage shear modulus G', loss shear modulus G" were calculated from the measured strain-stress curves. Time to reach the complex modulus G* of 10 MPa was determined. The G* and time to reach the G* of 10 MPa of composites were analyzed with One-way ANOVA and Tukey's test ($\alpha$ = 0.05). The results were as follows. 1. The custom made rheometer in this study reliably measured the initial visco-elastic modulus changes of composites during 10 seconds of light curing. 2. In all composites, the development of complex shear modulus G* had a latent period for $1{\sim}2$ seconds immediately after the start of light curing, and then increased rapidly during 10 seconds. 3. In all composites, the storage shear modulus G" increased steeper than the loss shear modulus G" during 10 seconds of light curing. 4. The complex shear modulus of Z1 was the highest, followed by CF, Z2, Z3, TC and DF the lowest. 5. Z1 was the fastest and DF was the slowest in the time to reach the complex shear modulus of 10 MPa.

• Restorative Dentistry and Endodontics
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• 제34권5호
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• pp.424-429
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• 2009

This study aimed to assess the influence of different cross-sectional area on the cyclic fatigue fracture of Ni-Ti rotary files using a fatigue tester incorporating cyclical axial movement. Six brands of Ni-Ti rotary files (ISO 30 size with. 04 taper) of 10 each were tested: Alpha system (KOMET), HeroShaper (MicroMega), K3 (SybronEndo), Mtwo (VDW), NRT (Mani), and ProFile (Dentsply). A fatigue-tester (Denbotix) was designed to allow cyclic tension and compressive stress on the tip of the instrument. Each file was mounted on a torque controlled motor (Aseptico) using a 1:20 reduction contra-angle and was rotated at 300 rpm with a continuous, 6 mm axial oscillating motion inside an artificial steel canal. The canal had a $60^{\circ}$ angle and a 5 mm radius of curvature. Instrument fracture was visually detected and the time until fracture was recorded by a digital stop watch. The data were analyzed statistically. Fractographic analysis of all fractured surfaces was performed to determine the fracture modes using a scanning electron microscope. Cross-sectional area at 3 mm from the tip of 3 unused Ni-Ti instruments for each group was calculated using Image-Pro Plus (Imagej 1.34n, NIH). Results showed that NRT and ProFile had significantly longer time to fracture compared to the other groups (p < .05). The cross-sectional area was not significantly associated with fatigue resistance. Fractographycally, all fractured surfaces demonstrated a combination of ductile and brittle fracture. In conclusion, there was no significant relationship between fatigue resistance and the cross-sectional area of Ni-Ti instruments under experimental conditions.