• 한국수소및신에너지학회논문집
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• 제27권2호
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• pp.230-235
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• 2016

The purpose of this study is to evaluate the gas leakage for a 30-inch ball valve. The ball valve was designed and manufactured for a natural gas transportation through a long-distance pipeline mainly installed in the permafrost region. The gas leakage assessment is based on the pressure testing criteria of international standards. Pressure conditions of the gas leakage test was employed 70 bar, 100 bar, and 110 bar. The amount of the gas leakage at each pressure condition was small and had a value under the pressure testing criteria, ISO 5208. Gas leakage with respect to the test pressure was predicted by the polynomial curve fitting using the experimental results. It is found that the gas leakage rate according to the pressure is proportion to a second order curve.

• Journal of Advanced Marine Engineering and Technology
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• 제27권2호
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• pp.238-245
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• 2003

To overcome the weakness in the load capacity of conventional robot manipulators actuated by motors with the speed reducer such as the harmonic driver, we proposed a new closed-chain type of the robot actuator which is composed of the four-bar-link mechanism driven by the ball screw. The robot manipulator is revolute-jointed and composed of four axes. The base axis is actuated by the lineal actuator such as the ball screw, and the others are actuated by the proposed actuator. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates and then they are mapped into the sliding coordinates of the ball screw. We performed fundamental tests on the structure of the robot.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제42권6호
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• pp.352-357
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• 2016

Objectives: This study aimed to evaluate the stability of prosthetic screws from three types of craniofacial prostheses retention systems (bar-clip, ball/O-ring, and magnet) when submitted to mechanical cycling. Materials and Methods: Twelve models of acrylic resin were used with implants placed 20 mm from each other and separated into three groups: (1) bar-clip (Sistema INP, São Paulo, Brazil), (2) ball/O-ring (Sistema INP), and (3) magnet (Metalmag, São Paulo, Brazil), with four samples in each group. Each sample underwent a mechanical cycling removal and insertion test (f=0.5 Hz) to determine the torque and the detorque values of the retention screws. A servo-hydraulic MTS machine (810-Flextest 40; MTS Systems, Eden Prairie, MN, USA) was used to perform the cycling with 2.5 mm and a displacement of 10 mm/s. The screws of the retention systems received an initial torque of 30 Ncm and the torque values required for loosening the screw values were obtained in three cycles (1,080, 2,160, and 3,240). The screws were retorqued to 30 Ncm before each new cycle. Results: The sample was composed of 24 screws grouped as follows: bar-clip (n=8), ball/O-ring (n=8), and magnet (n=8). There were significant differences between the groups, with greater detorque values observed in the ball/O-ring group when compared to the bar-clip and magnet groups for the first cycle. However, the detorque value was greater in the bar-clip group for the second cycle. Conclusion: The results of this study indicate that all prosthetic screws will loosen slightly after an initial tightening torque, also the bar-clip retention system demonstrated greater loosening of the screws when compared with ball/O-ring and magnet retention systems.

• 구강회복응용과학지
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• 제36권2호
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• pp.70-79
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• 2020

목적: 상악 임플란트 피개의치에서 유지장치 종류와 구개 피개 유무에 따른 응력분포를 3차원 유한요소분석법을 통해 알아보고자 한다. 연구 재료 및 방법: CAD를 이용하여 전방부에 4개의 임플란트를 식립한 4종류의 상악 임플란트 피개의치에 대한 3차원 모델을 디자인하였다. 1) Ball-F: 볼 유지장치를 사용하고 구개를 피개한 군, 2) Ball-P: 볼 유지장치를 사용하고 구개를 피개하지 않은 군, 3) Bar-F: 바 유지장치를 사용하고 구개를 피개한 군, 4) Bar-P: 바 유지장치를 사용하고 구개를 피개하지 않은 군. 응력분석은 유한요소 분석 프로그램인 ANSYS Workbench Ver. 14를 사용하였으며, 편측 저작의 상황을 고려하여 우측 제1대구치에 100 N의 정적하중을 적용하여 임플란트, 임플란트 주위 골, 점막에 발생하는 최대 응력값을 기록하였다. 결과: 볼 유지장치를 사용한 군이 바 유지장치를 사용한 군보다 임플란트 및 임플란트 주위골에 발생하는 최대 응력값이 작았다. 하지만 점막에서의 최대 응력값은 그 반대로 나타났다. 구개를 피개하면 유지장치의 종류와 무관하게 임플란트, 임플란트 주위 골, 점막 모두에서 최대응력값이 작아졌다. 결론: 본 연구의 한계 내에서 상악동 전방부에 4개의 임플란트를 식립하여 수복된 피개의치에서 바 유지장치보다는 볼 유지장치를 사용하고 구개를 완전히 피개하는 경우가 임플란트와 임플란트 주위 골의 응력분산에 효과적이다.

• 한국산업융합학회 논문집
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• 제17권3호
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• pp.84-92
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• 2014

In this paper, a novel 5-axis hybrid-kinematic machine tool is introduced and the research results on accuracy improvement of the prototype machine tool are presented. The 5-axis hybrid machine tool is made up of a 3-DOF parallel manipulator and a 2-DOF serial one connected in series. The machine tool maintains high ratio of stiffness to mass due to the parallel structure and high orientation capability due to the serial-type wrist. In order to acquire high accuracy, the methodology of measuring the output shafts by additional sensors instead of using encoder outputs at the motor shafts is proposed. In the kinematic view point, the hybrid manipulator reduces to a serial one, if the passive joints in the U-P serial chain at the center of the parallel manipulator are directly measured by additional sensors. Using the method of successive screw displacements, the kinematic error model is derived. Since a ball-bar is less expensive than a full position measurement device and sufficiently accurate for calibration, the kinematic calibration method of using a ball-bar is presented. The effectiveness of the calibration method has been verified through the simulations. Finally, the calibration experiment shows that the position accuracy of the prototype machine tool has been improved from 153 to $86{\mu}m$.

• 제어로봇시스템학회논문지
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• 제8권6호
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• 대한치과기공학회지
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• 제26권1호
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• pp.209-216
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• 2004

The purpose of this study is to introduce how to make implant supported over denture with Oring. Many kinds of attachments have used to dental restorations. The application of attachment has widely increased implant fixed prosthesis and implant supported over denture. In order that implant supported over denture have properly retention, generally used O-ring, magnetic, bar attachment. O-ring give us an advantage that is required more minimum vertical dimension than bar-type and easily replace with new part. When we make these prosthesis using O-ring, Bar, Ball attachment, we should following procedures. Strong occlusion force leads to fracture of over denture because part of functional mechanism as implant abutment or attachment is spaced. Clips are regularly activated. O-ring and springs are changed every year. The pattern of resorption should be carefully monitored and compensated for by relining procedures. If the over denture appears to rest on the bar or the ball attachments, relining should be performed and clips/caps should be changed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.323-326
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• 1997

Conventional robots actuated by motors with the speed reducer such as harmonic drive had weakness in delivering loads, pressing, grinding, and cutting jobs. To overcome this, the developer a new type of robot actuated by the ball screw. The robot is an articulated shape, which is composed of four axes. The base axis is actuated similarly with conventional robot, but the others are actuated by four bars mechanism composed of the ball screw. We setup the dynamics model of the robot. The robot has parameter uncertainties and nonlinearlity due to the ball screw actuator. To coordinate the robot, we applied sliding-mode control.