• 한국지능시스템학회논문지
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• 제7권5호
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• pp.67-76
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• 1997

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezo-electric bimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilevers with a force sensor at the tip and the finger is a solid beam. The robotic finger is used to hold the objects with different stiffness such as an iron block and a living insect and a moving objcet. So it is very important to develop an adequate controller for the holding operation of the finger. The main problems in force controlling are overdamping, overshoot and unknown environment(such as the stiffness of object and unknown plant parameters). So, the main target is propose the new fuzzy compensation for unknown environment and incease the system performance. The fuzzy compensation is implemented by using PI-type fuzzy approach to identified unknown environment. And the result of proposed controller was compared with the conventaional PID and optimal controller.

• Design & Manufacturing
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• 제14권2호
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• pp.49-55
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• 2020

Recently, when a new component of construction equipment is designed, a stamping process capable of producing parts having high appearance quality and precision has been gaining attention. However, in general, as it is developed based on existing parts made by welding metal sheets and tubes, frequent to die modification occurs, which increases the time and cost of developing new parts. Thus, it is necessary to reduce the cost by shortening the die development period. In this study, a stamping process was designed for the urea tank cover, which is a part for excavators, to reduce the die development period through sheet metal forming analysis. The stamping process was designed by determining the blank holding force after selecting the initial blank shape and size. The round value at the corner was modified such that formability is ensured. After selecting process parameters, the thickness reduction rate and spring-back effect were reviewed.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2005년도 춘계학술대회 논문집
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• pp.407-410
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• 2005

The drawability of AZ31B magnesium sheet is estimated according to the variable temperatures (200, 250, 300, 350 and $400^{\circ}C$), forming speed (20, 50, 100 mm/min), thickness (0.8, 1.4 t), blank holding force (1.0, 1.4, 1.7kN). The deep drawing process (DDP) of circular cup is used in forming experiments. The results of deep drawing experiences show that the drawability is well at the range from 250 to $300^{\circ}C$, 50mm/min forming speed and 1.4kN blank holding force. The 0.8t magnesium sheets were deformed better than 1.4t. BHF was controlled in order to improve drawability and protect the change of cup thickness. When BHF was controlled, tearing and thickness change were decreased and LDR. was improved from 2.1 to 3.0.

• 생명과학회지
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• 제7권4호
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• pp.329-335
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• 1997

This study was conducted to investigate the effect of dietary fiber(DF) levels on the meat quality in colored broiler. Colored broiler were fed on containing corn-soy basal diet(DF 5%) and high level(DF 6,7 and 8%) of dietary fiber diets for 7 weeks. Dietary fiber level of diet was make up by adding some alffalfa meal. Colored broiler meats were stored at 3$\circ$ for 24hr after skaughter, and used to analyze physico-chemical properties. Proximate component, pH, shear force value, myofibril fragmentation index, water holding capacity, cooking loss, protein extractability, fatty acid composition, Hunter's L, a value and palatability of cooked meat were not significantly affected by dietary fiber levels, whereas the Hunter's value of meat was significantly affected bty dietary fiber levels for the final period of feeding. Crude protein content, myofibril fragmentation index, water holding capacity, protein extractability and Hunter's b value of breast meat's were higher than thigh meat's, but crude fat content, pH, shear force value, cooking loss, palmitoleic acid, linolenic acid, and Hunter's a value were lower, regardless of dietary fiber level.

• 한국운동역학회지
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• 제25권1호
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• pp.65-76
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• 2015

Objective : The purpose of this study was to analyse the differences in core stability and muscle balance of the pilates Teaser motion according to the surfaces and skills. Methods : There were 10 subjects in this study with 5 being skilled and 5 that were not skilled. The independent variables were surfaces (high elastic & aluminum) and skills (skilled & unskilled). Dependent variables were core stability and muscle balance. Core stability was measured by Force Platform (9872, Switzerland), 3D Imagery (IBS-2000, EXYMA) was used to understand the muscle balance. In order to do the Teaser movement subjects had to lay flat on their back and then lean forward as much as possible and hold the position for 10 seconds. Afterwards, they would lay back down again. A camera (MHS-PM5K, SONY) was used to make 4 phases (take off, recoil forward, holding, recoil backward) during the teaser exercise to analyze movement. In this study quantitative and qualitative analysis was used. For the statistical analysis, 2X2 ANOVA was used to analyze the differences in movement time, X,Y,Z maximum force, center of pressure and angles according to different phases. 2X3 ANOVA was used to analyze the differences in muscle balance via SPSS 18.0. Results : Soft. Elastic mat had a longer holding time, lower Fx/ Fy/ Fz, shorter Fx trajectory, larger angle and shorter gaps in muscle balance than a hard surface in skilled subjects. This was because the mat can help to recruit and then sustain core fine muscles during holding time in the Teaser movement.

• 한국안전학회지
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• 제26권3호
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• pp.69-74
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• 2011

Despite most of tasks in manufacturing, construction and agriculture, etc., were currently mechanized and automated, manual materials handling still existed in atypical working condition. In case of manual materials handling, repetitive work, inappropriate working posture, excessive force, contact stress might cause overload, which could lead to work-related musculoskeletal disorders and low back pains. On this basis, the goal of this study is to reveal the effects of various lifting postures of trunk angles and lower extremity postures on maximum holding time(MHT). Twenty two subjects were recruited from a university population. The experiment was designed by a combination of three trunk angle ($0^{\circ}$, $20^{\circ}$, $60^{\circ}$) and three lower extremity postures(straight, bent, kneeling). Before experimental trials, subjects performed MVC(maximum voluntary contraction) exertions in three trunk angles ($0^{\circ}$, $20^{\circ}$, $60^{\circ}$) to calculate 30%MVC at designated postures. In each trial, they were required to hold the handheld load(30%MVC) for a designated posture as long as they could. The results of MVC by trunk angles were measured in $0^{\circ}$ > $20^{\circ}$ > $60^{\circ}$ orders, but those of MHT measured in $20^{\circ}$ > $0^{\circ}$ > $60^{\circ}$ orders. These results showed that straight posture is the ideal working posture in work exerted a strong force for a short time, but the ability to work might be improved in the trunk angle $20^{\circ}$ in work required 30%MVC for a long time. Also, results of MVC and MHT by lower extremity postures measured in straight > bent > kneeling orders.

• 수산해양기술연구
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• 제58권1호
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• pp.19-31
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• 2022

Damages by jellyfish are occurring frequently around the world. Among them, accidents caused by jellyfish stings are serious enough to cause death. So we designed a jellyfish blocking net and analyzed its stability to prevent sting caused by jellyfish entering the beach. To this end, the dynamic behavior of the jellyfish blocking net according to the current speed (0.25-1.0 m/s) and the net type (50, 100 and 150 mm) on the upper part of the blocking net was modeled using the mass spring model. As a result of simulations for the model, the horizontal tension (horizontal component of the mooring tension) of the mooring line increased with the decrease in the mesh size on the upper part of the blocking net at all current speeds, but exceeded the holding force at high tides faster than 0.5 m/s and exceeded the holding force at all current speeds at low tide. Therefore, the jellyfish blocking nets showed poor stability overall. The depth of the float line had a little difference according to the upper mesh size and increased lineary proportional to the current speed. However, the float line sank too much to block the incoming jellyfish. These analysis results helped us find ways to improve the stability of the jellyfish blocking net, such as adjusting the length of the mooring line and improving the holding power. Therefore, it is expected that this technology will be applied us various underwater structures to discover the weaknesses of the structures and contribute to increasing the stability in the future.

• 한국의학물리학회지:의학물리
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• 제33권4호
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• pp.136-141
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• 2022

Purpose: This study aimed to develop a breath control training system for breath-hold technique and respiratory-gated radiation therapy wherein the patients can learn breath-hold techniques in their convenient environment. Methods: The breath control training system comprises a sensor device and software. The sensor device uses a loadcell sensor and an adjustable strap around the chest to acquire respiratory signals. The device connects via Bluetooth to a computer where the software is installed. The software visualizes the respiratory signal in near real-time with a graph. The developed system can signal patients through visual (software), auditory (buzzer), and tactile (vibrator) stimulation when breath-holding starts. A motion phantom was used to test the basic functions of the developed breath control training system. The relative standard deviation of the maxima of the emulated free breathing data was calculated. Moreover, a relative standard deviation of a breath-holding region was calculated for the simulated breath-holding data. Results: The average force of the maxima was 487.71 N, and the relative standard deviation was 4.8%, while the average force of the breath hold region was 398.5 N, and the relative standard deviation was 1.8%. The data acquired through the sensor was consistent with the motion created by the motion phantom. Conclusions: We have developed a breath control training system comprising a sensor device and software that allow patients to learn breath-hold techniques in their convenient environment.

• 한국전문물리치료학회지
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• 제18권1호
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• pp.9-17
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• 2011

The purpose of this study was to assess visual biofeedback's influence on trunk muscles' (EMG) activity and endurance holding time for correct position during whole-body tilt exercise. For the study, we recruited 14 volunteers who showed no symptom of lumbar disease during medical tests. We measured the EMG activity of their rectus abdominis, external abdominal oblique, internal abdominal oblique and erector spinae muscles, and their endurance holding time for correct position during $40^{\circ}$ anterior and posterior whole-body tilt under two conditions: whole-body tilt with and without visual biofeedback. Resistance with gravitational force on the trunk during whole-body tilt was applied by using a device that had a monitor on which the subjects could check their alignment and that sounded an alarm if a subject's alignment collapsed. The study showed an increase in the EMG activity of external abdominal oblique, internal abdominal oblique/rectus abdominis ratio and endurance holding time for correct position during both $40^{\circ}$ anterior and posterior whole-body tilt with visual biofeedback compared with without visual biofeedback (p<.05). We suggest that the whole-body tilt exercise with visual biofeedback could be a beneficial strategy for selectively strengthening the internal abdominal oblique muscle and minimizing the rectus abdominis muscle's activity while maintaining correct alignment during whole-body tilt exercise.

• Journal of Welding and Joining
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• 제24권6호
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• pp.13-20
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• 2006

Resistance spot welding is widely used for joining sheet metals in the automotive manufacturing process. Recently, servo-gun is used to increase the productivity and precise control the acting force. However, force control mechanisms have not been investigated with servo-guns until now. In this paper, it is proved that servo-motor current is proportional to torque and by experiment, experimental equation between servo-motor current and electrode force was derived. Algorithm for feedback control of electrode force was suggested using current measurement. In addition, applying soft touch method to this system the impact between electrode and specimen, which is the problem of air gun, could be reduced. Indentation made the force decrease in holding time of resistance spot welding. In order to overcome this problem, force compensation using the servo gun was used and it improved weld strength in good welding current range.