• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.538-541
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• 1995

Joint flexibilities and frictional uncertainties are known to be a major cause of performance degration in motion control systems. This paper investigates the modeling and compensation of these undesired effects. A hybrid controller, which consists of a predictive controller and a neural network controller, is designed to overcome these undesired effects. Also learning scheme for friction uncertainies, which don't interfere with feedback controller dynamics, is discussed. Through simulation works with two inetia-torsional spring system having Coulomb friction, the effectiveness of the proposed hybrid controller was tested. The proposed predictive & neural network hybrid controller shows better performance over one when only predictive controller used.

• Journal of Industrial Technology
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• v.19
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• pp.351-359
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• 1999

If the tactile sense is introduced to engineering and industries, it may provide more realistic virtual tactile sensing to human and it is possible to develop product that satisfy various consumer's taste. This paper presents a compliance emulator system as a new concept of tactile reproduction simulator which uses magnetic levitation in order to minimize friction and emulates compliance only along the vertical direction. Compliance is one of the important mechanical properties of the object related to tactile sensing of the human. The implemented system equipped with an analog LVDT sensor for a position sensor and employs a PD control with gravity compensation to emulate the specified compliance. To compensate the limited range of the system, the method of attaching the spring with various magnitude of stiffness to the system is adopted and its preliminary test is performed to confirm the validity of the method.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.86-94
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• 1993

In heavy industries forces which are exceeding the range of available force standard machines have to be measured. Force measuring system using build-up procedure can be applied to measure large forces efficiently. In this study strain gage type force sensors are designed and fabricated, and the build-up force measuring system with 4.5 MN capacity using the developed force sensors is 0.03% or less over the range of 600 kN .approx. 1.5 MN and the force measuring system is less than 0.06% or less over the range of 500 kN .approx. 4.5 MN.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.657-666
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• 2017

In this study, factor analysis was performed to reduce the friction in the elevation motion of a stand for a 50-inchtelevision. Pipe type cross-section control was used for accurate positioning control of the piston rod. The pipe type was also compared with a labyrinth-type crosssection for the orifice. The frictional force was then reduced using gas seal lip technology. Specifications were chosen, and a volume compensation experiment was carried out using an apparatus for compensating the volume of the cylinder, which is compressed by the volume of the piston rod. Based on CAE and experimental considerations, the labyrinth-type orifice is preferred for reducing friction. For the gas seal lip technology, outer and inner diameters of ${\Phi}20$ and ${\Phi}8$ for the hollow rod were more appropriate when assuming the weight of a 50-inch television to be 30kgf. The third is that the result of total consideration in stability problem and performance of volume compensation for specification decision and volume compensation experiment is determined the final speculation of hollow rod ?8x?4 and riveting system. The last is that the labyrinth orifice is not founded that of the ${\O}0.4{\sim}0.6$ orifice both tests on 300 mm intervals.

• Composites Research
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• v.19 no.1
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• pp.29-35
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• 2006

The avoidance of enemy's radar detection is very important issue in the modem electronic weapon system. Researchers have studied to minimize reflected signals of radar. In this research, two types of radar absorbing structure (RAS), 'C'-type shell and 'U'-type shell, were fabricated using fiber-reinforced composite materials and their radar cross section (RCS) were evaluated. The absorption layer was composed of glass fiber reinforced epoxy and nano size carbon-black, and the reflection layer was fabricated with carbon fiber reinforced epoxy. During their manufacturing process, undesired thermal deformation (so called spring-back) was observed. In order to reduce spring-back, the bending angle of mold was controlled by a series of experiments. The spring-back of parts fabricated by using compensated mold was predicted by finite element analysis (ANSYS). The RCS of RAS shells were measured by compact range and predicted by physical optics method. The measured RCS data was well matched with the predicted data.

• International Journal of Highway Engineering
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• v.16 no.6
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• pp.95-104
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• 2014

PURPOSES : The purpose of this study is to evaluate the degree of restraint (DOR) of longitudinal steel at continuously reinforced concrete pavement (CRCP) against environmental loadings. METHODS : To measure the longitudinal steel strain, 3-electrical resistance and self-temperature compensation gauges were installed to CRCP test section (thickness = 250mm, steel ratio = 0.7%) and continuously measured 10 min. intervals during 259 days. In order to properly analyze the steel strains first, temperature compensation process has been conducted. Secondly, measured steel strains were divided into 12 phases with different events such as before paving, during concrete hardening, and after first cracking, etc. RESULTS : Thermal strain rate (TSR) concept is defined as the linear strain variations with temperature changes and restraints rate of longitudinal steel against environmental loadings (especially thermal loading) with different cases is defined as degree of restraint(DOR). New concept of DOR could be indirect indicator of crack width behaviors of CRCP. CONCLUSIONS : Before paving, DOR of longitudinal steel is almost same at the coefficient of thermal expansion of steel ($12.44m/m/^{\circ}C$) because of no restraint boundary condition. After concrete pouring, DOR is gradually changed into -1 due to concrete stiffness developing with hydration. After first cracking at crack induced area, values of DOR are around -3~-5. The negative DOR stands for the crack width behavior instead of steel strain behavior. During winter season, DOR reached to -5.77 as the highest, but spring this values gradually reduced as -1.7 as the lowest. Based on this observation, we can presume crack width decreased over time within the time frame of this study. This finding is not consistent with the current theory on crack width variations over time, so further study is necessary to identify the causes of crack width reducing. One of the reasons could be related to concrete stress re-distribution and stress relaxation.

• Journal of the Korea Safety Management & Science
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• v.12 no.2
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• pp.35-40
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• 2010

This study collected 217 cases of court ruling statements for the cases over which administrative litigations were made regarding the acknowledgment of cerebral and cardiovascular diseases arising out of duty against Korea Labor Welfare Corporation and analyzed the factors of occurrence of cerebral hemorrhage and infarction and the Court cases of cancelation and dismissal of the litigation. As a result, due to seasonal factors, cerebral hemorrhage occurred more in the winter while cerebral infarction, in spring. The incidences for each age group were the higest in people in their 40s for cerebral hemorrhage while in those in their 50s for cerebral infarction, it turned that the incidence inside the places of business was the highest. The average days from application for care and family benefits until the confirmation of the case was 31 months on average for 34 canceled cases while 23 months for 183 dismissed ones, and the average number of months working until the occurrence of accident was 80.8 months for the 34 canceled cases while 77.6 for the 183 dismissed ones. This study has a significance in that it analyzed leading cases of confirmed administrative litigations in some cases applied for diseases due to occupational cases after the occurrence of cerebral and cardiovascular diseases but not approved, through which it is expected to be used as the basic data to reduce time and economic loss generated by the litigations to judge the acknowledgment of diseases due to occupational cases.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.671-686
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• 2020

Due to the long training time and high training cost of traditional surgical training methods, the emerging virtual surgical training method has gradually replaced it as the mainstream. However, the virtual surgical system suffers from poor authenticity and high computational cost problems. For overcoming the deficiency of these problems, we propose an optimized model for the local compression deformation of soft tissue. This model uses a simulated annealing algorithm to optimize the parameters of the soft tissue model to improve the authenticity of the simulation. Meanwhile, although the soft tissue deformation is divided into local deformation region and non-deformation region, our proposed model only needs to calculate and update the deformation region, which can improve the simulation real-time performance. Besides, we define a compensation strategy for the "superelastic" effect which often occurs with the mass-spring model. To verify the validity of the model, we carry out a compression simulation experiment of abdomen and human foot and compare it with other models. The experimental results indicate the proposed model is realistic and effective in soft tissue compression simulation, and it outperforms other models in accuracy and real-time performance.

• Journal of The Korean Society of Grassland and Forage Science
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• v.9 no.3
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• pp.141-147
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• 1989

This experiment was carried out to determine the effects of 13 different application levels of nitrogen(N), phosphorous($P_2O_5$) and potassium($K_2O$) fertilizer at pasture establishment on the winter survival, early spring growth and dry matter(DM) yield, and contents of crude protein(CP) and carbohydrate resewes(CH0-R) of grasses in Suwon from September, 1987 to June, 1988. Winter survival of grasses was high (ca. 90 %) in the plots of N 80 kg, N 120 kg and $K_2O$ application, regardless of $P_2O_5$, while those in zero-N and zero-NPK plots were low as 76 % and 64 %, respectively. Close relationships were observed between winter survival and N & $K_2O$ fertilizer. Early spring growth was vigorous in N-fertilized plots. Heading rate at the first harvest was 50-70 % in all N-plots, regardless of $P_2O_5$ and $K_2O$, while those in zero-N and zero-NPK plots were very low as 20-26 % and 15-18 %,respectively. The DM yield of first harvest was higher in the plots of N 80 kg $ha^{-1}$, regardless of $P_2O_5$ and $K_2O$ levels, and those in zero-N and zero-NPK plots were very low (P < 0.05). The regrowth yleld was not significantly affected by fertilizer levels. The CP content was increased with increasing N level, but CHO-K contents (35-39 %)was not affected by fertilizer levels.Winter survival, early spring growth, DM yield and CP content were significantly influenced by N fertilizer at pasture establishment, regardless of $P_2O_5$ and $K_2O$ application. In this experiment, the compensation effect for spring yield was observed with more N application than usual in next early spring when deficient amount of fertilizer (especially N) was applicated at pasture establishment. Also the optimum application levels of N, $P_2O_5$ and $K_2O$ fertilizer could be recommended as 80, 200 and 70 kg $ha^{-1}$ in new establishing pasture, respectively.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.