• 한국지능시스템학회논문지
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• 제23권3호
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• pp.238-243
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• 2013

본 논문에서는 이족 보행 로봇을 위한 무릎 및 힙 관절의 일 특성을 분석하고자 한다. 이를 위하여 컴플라이언스 특성의 발을 갖는 이족 로봇 다리 메커니즘을 대상으로 전형적인 보행 패턴을 고려한다. 또한 딱딱한 지면과 접촉하는 로봇 발 공간으로부터 다리 관절 공간으로 전파되는 토오크 특성을 확인하고, 보행에 따라 관절 공간에 누적되는 일 특성을 제시한다. 결과적으로, 이러한 분석이이족 로봇의 보행에서 발과 지면의 물리적인 접촉에 의한 다리 메커니즘의 피로 정도를 파악하는데 있어서 유용하고, 적절한 신발 착용 등에 의한 로봇 발 공간에서의 컴플라이언스특성 개선에 활용될 수 있음을 보인다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.701-708
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• 1997

A direct boundary element method(DBEM) is developed for thin bodies whose surfaces are rigid or compliant. Th eHelmholtz integral equation and its normal derivative integral equation are adopted simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discontinuous across the thin body. In this approach, only the neural surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absorbing material.

• 소음진동
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• 제7권6호
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• pp.975-984
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• 1997

A direct boundary element method (DBEM) is developed for thin bodies whose surfaces are rigid or compliant. The Helmholtz integral equation and its normal derivative integral equation are adoped simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absoring material.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.695-700
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• 1997

A direct boundary element method(DBEM) is developed for thin bodies whose surfaces are rigid or compliant. The Helmholtz integral equation and its normal derivative integral equation are adopted simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absorbing material.

• 한국전산유체공학회지
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• 제13권4호
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• pp.96-106
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• 2008

We review a series of studies on turbulent skin friction drag reduction in wall-turbulence recently conducted in Japan. First, an identity equation relating the skin friction drag and the Reynolds shearstress (the FIK identity) is introduced. Based on the implication of the FIK identity, a new analytical suboptimal feedback control law requiring the streamwise wall-shear stress only is introduced and direct numerical simulation (DNS) results of turbulent pipe flow with that control is reported. We also introduce DNS of an anisotropic compliant surface and parameter optimization using an evolutionary optimization technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.588-588
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• 1991

This paper proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, we need more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adapitive controllers have difficulty in realtime processing. So in order to overcome it, We adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. We analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 학술대회
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• pp.347-354
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• 2008

We introduce a series of studies on turbulent skin friction drag reduction in wall-turbulence. First, an identity equation relating the skin friction drag and the Reynolds shear stress (the FIK identity) is introduced. Based on the implication of the FIK identity, a new analytical suboptimal feedback control law requiring the streamwise wall-shear stress only is introduced and direct numerical simulation (DNS) results of turbulent pipe flow with that control is reported. We also introduce DNS of an anisotropic compliant surface and parameter optimization using an evolutionary optimization technique.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년 추계학술대회논문집
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• pp.347-354
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• 2008

We introduce a series of studies on turbulent skin friction drag reduction in wall-turbulence. First, an identity equation relating the skin friction drag and the Reynolds shear stress (the FIK identity) is introduced. Based on the implication of the FIK identity, a new analytical suboptimal feedback control law requiring the streamwise wall-shear stress only is introduced and direct numerical simulation (DNS) results of turbulent pipe flow with that control is reported. We also introduce DNS of an anisotropic compliant surface and parameter optimization using an evolutionary optimization technique.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1744-1748
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• 2007

In this study, the Johnson-Kendall-Roberts (JKR) theory was combined with the instrumented indentation technique (IIT) to evaluate work of adhesion and modulus of elastomeric polymer. Indentation test was used to obtain the load-displacement data for contacts between Tungsten Carbide indenter and elastomeric polymer. And the JKR contact model, contrived to take viscoelastic effects of polymer into account, was applied to compensate the contact area and the elastic modulus which Hertzian contact model would underestimate and overestimate, respectively. Besides, we could obtain the thermodynamic work of adhesion by considering the surface energy in this contact model. In order to define the relation between JKR contact area and applied load without optical measuring of contact area, we used the relation between applied load and contact stiffness by examining the correlation between JKR contact area and stiffness through dimensional analysis with 14 kinds of elastomeric polymer. From this work, it could be demonstrated that the interfacial work of adhesion and elastic modulus of compliant polymer can be obtained from a simple instrumented indentation testing without area measurement, and provided as the main algorithm of compliant polymer characterization.

• 대한기계학회논문집A
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• 제31권9호
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• pp.951-959
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• 2007

In this study, the Johnson-Kendall-Roberts(JKR) theory was combined with the instrumented indentation technique (IIT) to evaluate work of adhesion and modulus of elastomeric polymer. Indentation test was used to obtain the load-displacement data for contacts between Tungsten Carbide indenter and elastomeric polymer. And the JKR contact model, contrived to take viscoelastic effects of polymer into account, was applied to compensate the contact area and the elastic modulus which Hertzian contact model would underestimate and overestimate, respectively. Besides, we could obtain the thermodynamic work of adhesion by considering the surface energy in this contact model. In order to define the relation between JKR contact area and applied load without optical measuring of contact area, we used the relation between applied load and contact stiffness by examining the correlation between JKR contact area and stiffness through dimensional analysis with 14 kinds of elastomeric polymer. From this work, it could be demonstrated that the interfacial work of adhesion and elastic modulus of compliant polymer can be obtained from a simple instrumented indentation testing without area measurement, and provided as the main algorithm of compliant polymer characterization.