• The Journal of Korean Physical Therapy
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• v.15 no.2
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• pp.196-209
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• 2003

본 연구의 목적은 보통 보행과 장애물 보행 시작시에 accuracy constraints, 즉 발꿈치 닿기(swing limb heel-strike)의 정확도가 힘판(forceplate) 상에서 힘의 조절 (force modulation)과 EMG에 어떠한 영향을 미치는지를 분석하는 것이다. 본 실험의 대상자는 힘판(forceplate)위에서 보통 보행과 장애물 보행을 하되, 대상자 앞에 놓인 표적(target)에 정확히 발꿈치 닫기 (heel-strike)를 하도록 유도되었다. 이 때 힘판 자료와 전경골근(tibialis anterior)및 가자미근 (soleus)의 근전도 (EMG)의 활동을 양쪽 다리에서 측정하였다. 대상자 앞에 놓인 표적 (target)에 정확한 발꿈치 닫기(heel-strike)가 요구되었을 때에는 발끝밀기(swing toe-off) 시간이 증가되었으며 힘판(forceplate)상에서의 peak farce와 slope to peak force 가 감소되는 것으로 나타났다. 전경골근 (tibialis anterior)의 활동역시 큰 차이로 감소하는 것으로 나타났다. 하지만 보통 보행과 장애물 보행시의 근전도 혹은 힘판상의 자료에는 큰 차이점이 없는 것으로 나타났다. 이러한 결과는 기존의 상지(upper extremity)에서 보여준 운동제어 (motor control)의 이론들이 하지(lower extremity)에서도 동일하게 적용될 수 있음을 보여주는 것이다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.723-726
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• 2002

In the recent years, as the research and the development of micro and precision machinery become active, the interest of micro actuators using SMA(Shape Memory Alloy) has been increased. The dynamic characteristic analysis of SMA is necessary for actuator application and many common researches report the material characteristics of SMA sufficiently. However, the research of dynamic characteristics is very deficient. In this paper, the helical spring is fabricated with NiTi SMA wire of high resistivity The farce, response speed, temperature, and displacement are measured by digital force gauge, infrared thermometer, and laser displacement sensor so that the dynamic characteristics of this SMA actuator is analyzed.

• KSTLE International Journal
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• v.3 no.2
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• pp.90-94
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• 2002

A press shoe is an element of a machine for squeezing water from wood pulp in the field of manufacturing paper. This is used to compress the pulp enveloped by felt sheet with a large roller. The squeezing farce is made by hydraulic pressure. The press shoe has a mechanism similar to a partial hydrostatic bearing. The pressure profile between press shoe and roller affects their squeezing ability, and partial peak pressure can tear the wet pulp. The curvature of the surface of press shoe varies to reduce the peak pressure and increase the mean pressure simultaneously, Therefore, the prediction of pressure distribution considering partially changed curvature of hydrostatic bearing is very important far designing the press shoe. In this study, the difference formulation of Reynolds equation far partial hydrostatic bearing is derived by direct numerical method and a computer program to calculate the pressure distribution is developed. We investigate the effect of partially changed curvature of bearing surface on the pressure distribution. Other design parameter far hydrostatic bearing such as depth of pocket and relative velocity are also studied.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.56-63
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• 2002

A new model utilizing a transfer function is introduced in the present paper for analizing motion errors of hydrostatic tables. Relationship between film reaction force in a single hydrostatic pad and form error of a guide rail is derived at various spacial frequencies by finite element analysis, and it is expressed as a transfer function. This transfer function clarifies so called averaging effect of the oil film quantitively. For example, it is found that the amplitide of the film reaction farce is reduced as the spacial frequency increases or relative width of the pocket is reduced. Motion errors of a multiple pad table is estimated from transfer function, geomatric relationship between each pads and form errors of a guide rail, which is named as Transfer Function Method(TFM). Calculated motion errors by TFM show good agreement with motion errors calculated by Multi Pad Method, which is considered entire table as an analysis object. From the results, it is confirmed that the proposed TFM is very effective to analyze the motion errors of hydrostatic tables.

• KSTLE International Journal
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• v.2 no.1
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• pp.80-84
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• 2001

The purpose of this paper is to show the result from the study to improve the formability and appearance which is important in the cold rolled strip, the coated strip and prepainted strip. Furthermore, to give appropriate surface roughness, shape of work roll for temper mill is also important. The strip has a greater peak counts and homogeneous roughness. This makes the prepainted surface smooth and consistent in appearance with good image clarity. Therefore, the surface roughness of the work roll is very important. The reason that surface roughness of the work roll is transferred to the strip surface is the rolling farce and tension at the temper rolling or cold rolling. This study is classified in order to get an accurate and homogeneous roughness. There are few papers published in this field, because its importance is not known and the proper operation of the machine is not generally well known. This paper investigates the correlation between strip surface roughness and the surface of the work roll. After studying the surface roughness and shape according to the texturing method for roll surfaces at temper rolling, the findings were as follows. Irregular surface roughness can be compensated with several paint coatings, but this also makes the quality deteriorate and manufacturing costs go up.

• KSTLE International Journal
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• v.1 no.2
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• pp.69-75
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• 2000

The paper compares topography, phase contrast and force spectroscopy in atomic force microscopy data for evaluating the microheterogeneity of surface layer. The worn surface of ion-plated TiN coating was measured using both a laboratory-built and a commercial AFM. The results of analysis revealed structural and micromechanical heterogeneity of the worn surfaces. We demonstrated that the phase image allows relatively qualitative estimation of elastic modulus of the sample surface. The tribolayer formed in the worn surface possessed much lower stiffness than the original coating. It is shown that the most stable phase imaging is provided with a stiff cantilever. In this case, phase contrast is well conditioned, first of all, by microheterogeneity of elastic properties of the investigated surfaces. In this study an attempt was also made to correlate the results of phase imaging with that of the farce spectroscopy. The joint analysis of information on the surface properties obtained by the phase imaging and quantitative data measured with the force spectroscopy methods allows a better understanding of the nature of the surface micromechanical heterogeneity.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1419-1425
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• 1996

In this work, a precies actuator which is capable of high positioning accuracy is developed. For estimation the dynamic behavior of the actuator, system modeling is performed by employing a stick-slip frection law. Dynamic characteristics over various types of driving input signals and vibraiton loci of the driving tip are examined by experiments. Phase differences between the input signals are applied, and the dynamic behavior of slider is investigated. From the simulation and experimental results, it is observed that the dynamic behaviors from the simulation results agree fairly well to those of the experimental results. Thisindicates that the model developed in this work is applicable to other precision mechanisms in which a friction farce is as improtant factor for actuation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.11
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• pp.1743-1750
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• 2001

This paper presents an analysis of nonlinear response of the seismically isolated structure against earthquake excitation to evaluate isolation performances of a rubber bearing. In the analysis of the vibration of building, the building is modeled by lumped mass system where the restoring force is considered as linear, bilinear and trilinear. Fundamental equations of motion are derived for the base isolated structure, and hysteretic and nonlinear-elastic characteristics are considered for a numerical calculation. The excitation levels are magnified fur the recorded strong earthquake motions in order to examine dynamic stability of the structure. Seismic responses (of the building are compared fur the each restoring force type. As a result, it is shown that the effect of the motion by the nonlinear response of the building is comparatively not so large from a seismic design standpoint. The responses of the isolated structures reduce sufficiently and controled the motion of the building well in a practical range. By increasing the acceleration of the earthquake, the yielding of the farce was occurred in the concrete and steel frame, which shows the necessity of the exact nonlinear dynamic analysis.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.6
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• pp.1-7
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• 2003

The experimental research was conducted to find an end mill with an ideal helix angle, which has a superior anti-vibration effect and a low machining tolerance. A conventional endmill which all low blades are $30^{\circ}$ helix angles and a different helix angle endmill which the opposite two blades are $30^{\circ}$ and the other opposites are different helix angles were studied. The cutting farce, machining tolerance and surface roughness were obtained. The AE signals appeared to have low values in up-milling rather than in down-milling. These are also appeared to have low values at low spindle revolutions rates. The cutting force values of Fxy and Fxyz were found to be increased according to the value of helix angle. In up-milling, it was difficult to find a definite tendency in machining tolerance, but in down-milling machining tolerance of the different helix angle end mill was found to be lower than that of the convention end mill. There is a definite tendency that the surface roughness gets better as the RPM increases. In down-milling, Type A($25^{\circ}$＋$30^{\circ}$) appeared to bring the most satisfactory result.