• Journal of the Korean Society for Precision Engineering
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• v.27 no.9
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• pp.86-93
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• 2010

Any relative deformation between the cutting tool and the workpiece at the machining point, results directly in form and dimensional errors. The source of relative deformations between the cutting tool and the workpiece at the contact point may be due to thermal, weight, and cutting forces. Thermal and weight deformations can be measured at various positions of the machine tool and stored in the compensation registers of the CNC unit and compensated the errors during machining. However, the cutting force induced errors are difficult to compensate because estimation of cutting forces are difficult. To minimize the error induced by cutting forces, it is important to improve the machining accuracy. This paper presents the pre-calculated method of form error induced by cutting forces. In order to estimate cutting forces, Isakov method is used and the method is verified by comparing with the experimental results. In order to this, a cylindrical-outer-diameter turning experiments are carried out according to cutting conditions.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.6
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• pp.33-38
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• 2012

EMB is considered as the next generation braking mechanism because it has simple structure and is environment friendly. However, as other brake mechanisms, EMB should be operated reliably for any operating conditions. EMB should be designed with fail-safe and fault-tolerant control concepts which require robust fault detection algorithms for various possible faults. In the design of fault detection algorithms, it is very difficult to construct faulty conditions in real EMB and thus, simulations are often used to emulate the faulty conditions. In this paper, a simulation tool is developed using the commercial software to emulate gear faults in the EMB mechanism. A backlash compensation algorithm is introduced based on contact point detection because screw backlash causes a delay in clamping force response time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• The Korean Journal of Air & Space Law and Policy
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• v.21 no.1
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• pp.169-189
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• 2006

In 2007, KSLV(Korea Small Launching Vehicle) that we made at Goheung National Space Center is going to launch and promotes of our space exploration systematically and 'Space Exploration Promotion Act' was enter into force. 'Space Exploration Promotion Act' article 3, section 1, as is prescribing "Korean government keeps the space treaties contracted with other countries and international organizations and pursues after peaceful uses of outer space." The representative international treaties are Outer Space Treaty (1967) and Liability Convention (1972) etc. In Liability convention article 2, "A launching State shall be absolutely liable to pay compensation for damage caused by its space object on the surface of the earth or to aircraft in flight. The important content of the art. 2 is the responsible entity is the 'State' not the 'Company'. According by Korean Space Exploration Act art. 14, person who launches space objects according to art. 8 and art. 11 must bear the liability for damages owing to space accidents of the space objects. Could Korean government apply the Products Liability Act which is enter into force from July 1, 2002 to space launching person? And what is the contact type between Korea Aerospace Research Institute(KARl) and Russia manufacturer. Is that a Co-Development contract or Licence Product contract? And there is no exemption clause to waive the Russia manufacturer's liability which we could find it from other similar contract condition. If there is no exemption clause to the Russia manufacturer, could we apply the Korean Products Liability Act to Russia one? The most important legal point is whether we could apply the Korean Products Liability Act to the main component company. According by the art. 17 of the contract between KARl and the company, KARl already apply the Products Liability Act to the main component company. For reference, we need to examine the Appalachian Insurance co. v. McDonnell Douglas case, this case is that long distance electricity communication satellite of Western Union Telegraph company possessions fails on track entry. In Western Union's insurance company supplied to Western Union with insurance of $ 105 millions, which has the satellite regard as entirely damage. Five insurance companies -Appalachian insurance company, Commonwealth insurance company, Industrial Indemnity, Mutual Marine Office, Northbrook Excess & Surplus insurance company- went to court against McDonnell Douglases, Morton Thiokol and Hitco company to inquire for fault and strict liability of product. By the Appalachian Insurance co. v. McDonnell Douglas case, KARl should waiver the main component's product liability burden. And we could study the possibility of the adapt 'Government Contractor Defense' theory to the main component company.