• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1078-1081
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot's performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.692-696
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• 2011

A clutch is a very important component when engine starts and gear shifting is needed. The clutch the most commonly used is the dry clutch. This type of clutch has pads, and they are worn after disengagement of clutch little by little. The characteristics of the clutch changes as these pads wear, so wear needs to be measured, and the clutch should be controlled for proper operation. In this study, the clutch contact point estimation algorithm has been developed. From this algorithm, clutch force map changes depending on wear, and the clutch operates properly. We also see the shifting transient of a vehicle for drivability with throttle valve position control and synchronizer movement.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.583-588
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• 2015

Flexible tactile sensors can provide valuable feedback to intelligent robots regarding the environment around them. This is especially important when robots such as, service robots share a workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by a direct-writing technique, which is one 3D printing method, using multi-walled carbon nano-tubes. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of the Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.

• Transactions of Materials Processing
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• v.22 no.3
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• pp.143-149
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• 2013

A new finite element model for the hydrostatic extrusion of a biaxial bar is introduced. In this model, a penalty contact algorithm, which is adopted to replace the traction boundary conditions due to the fluid in the container of the extruder, is incorporated into a consistent penalty finite element formulation for the viscoplastic deformation of a work piece during hydrostatic extrusion. Two parameters, introduced in the penalty contact algorithm in this study, a critical penalty contact pressure $P_0$ and a critical penalty contact distance $D_c$, are carefully examined for various process conditions. The proposed finite element model is applied to the hydrostatic extrusion of a Cu-clad Al bar. The extrusion loads and thickness ratios of the clad materials by the proposed model are compared in detail to values from experiments reported in the literature. Finally, it is concluded that the proposed finite element model is useful in practical implementations.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.3
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• pp.43-52
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• 2010

In this study, the shapes of the wheel and rail are represented by using 3-dimensional surface functions with surface parameters and a 3-dimensional wheel-rail contact analysis is presented. A whole numerical solution of wheel-rail contact at tread and flange including 2-point contacts can be achieved with the proposed numerical algorithm. Kinematic characteristics such as variances of vertical displacement and roll angle, and variance of wheel radius difference for arbitrary yaw and lateral displacement of wheelset, are determined for the KTX wheel-rail pair as an example. The condition of yaw and lateral displacement occurring 2-point contacts to analyze derailment are compared between standard and worn wheels. Differences of contact characteristics between curved and straight rails are also analyzed.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.1
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• pp.57-65
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• 2008

Superplastic forming/diffusion bonding(SPF/DB) processes with inner contact were analyzed using a 3-D rigid visco-plastic finite element method. A constant-triangular element based on membrane approximation and an incremental theory of plasticity are employed for the formulation. The hierarchical search algorithm for the contact searching has been applied. The algorithms for contact force processing were designed to handle equally well contact between deformable bodies, as well as rigid bodies. The plate of three and four sheets for 3-D SPF/DB model are analyzed using the developed program. The validity for the analysis is verified by comparison between analysis, experiment and results in the literature.

• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.344-353
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• 2002

A reliable computational heat transfer model has been investigated to define the heat transfer characteristics of a spray column direct contact heat exchanger, which is often utilized in the process involving counterflows for heat and mass transfer operations. Most of the previous studies investigated are one-dimensional unsteady solutions based on rather fragmentary experimental data. Development of a multidimensional numerical model and a computational algorithm are essential to analyze the inherent multidimensional characteristics of a direct contact heat exchanger. The present study has been carried out numerically and establishes a solid simulation algorithm for the operation of a direct contact heat exchanger. Operational and system parameters such as the speed and direction of working fluid droplets at the injection point, and the effects of aspect ratio and void fraction of continuous fluid are examined thoroughly as well to assess their influence on the performance of a spray column.

• Journal of the Korean Society for Railway
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• v.9 no.5 s.36
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• pp.618-623
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• 2006

Understanding the contact between wheel and rail is a starting point in railway vehicle dynamic research area and especially analysis for the contact geometry between wheel and rail is important. On the one hand, the critical speed as the natural characteristics of rolling-stock is generally tested on the roller rig. The geometrical characteristics of the wheel/roller contact on the roller rig are different from these of the general wheel/rail contact because the longitudinal radius of roller is not infinite compared with rail. Thus, in this paper we developed the algorithm to analyze the wheel/roller contact geometry of our roller rig which is constructed now and analyzed the difference between whee/roller contact and wheel/rail contact. In conclusion, we found that the yaw motion of wheelset and the roller radius influence the geometrical contact parameters in wheel flange contact area.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.7 s.172
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• pp.137-145
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• 2005

A new design of contact detection algorithm is proposed for the z-axis of a wire bonder that interconnects between pads and leads in semiconductor manufacturing processes. Fast and stable contact detection of the z-axis is extremely important fer maintaining proper quality in the fine pitch gold wire bonding process, which has a small pad size of below 70um. The new method is based on a statistical approach and designed for the discrete Kalman filter. Real wire bonding experimental results are presented to demonstrate the advantages of the proposed algorithm.

• Tribology and Lubricants
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• v.14 no.4
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• pp.121-127
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• 1998

In this study, a numerical procedure to solve a contact problem has been developed. The procedure takes advantage of signal processing technique in frequency domain to achieve shorter computing time. Boussinesq's equation was adopted as the response function. This procedure is applicable to a non-periodic surface profile as well as a periodic one. The validity of this procedure has been established by comparing the numerical results with the exact solutions. The fastness of this procedure was shown in comparison with other algorithm.