• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.244-250
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• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• 한국축산식품학회지
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• 제43권3호
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• pp.491-501
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• 2023

Comparing the effects of sodium tripolyphosphate (STPP) concentrations of 0.2% and 0.4% on beef semitendinosus is the objective of the current investigation. The samples were cooked at varied temperatures (45+60℃ and 45+70℃) and times (1.5+1.5 h and 3+3 h) using staged cooking. The colour properties, cooking loss, water retention, shear force, water-holding capacity, sarcoplasmic, and myofibrillar solubility, and total collagen were investigated. The cooking time and temperature affected the water-holding capacity, cooking loss, CIE L^*, CIE a^*, CIE b^*, myofibrillar, and sarcoplasmic solubility, with lower temperature and short time having the lower detrimental effect. However, the significant effect can be intensified after the addition of STPP with higher water-holding capacity and tender meat obtained with 0.4% phosphate concentration at any cooking conditions. The STPP lowered the collagen content and increased the protein solubility of myofibrillar and sarcoplasmic, which this degradation is used as a good indicator of tenderness.

• 한국정밀공학회지
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• 제14권1호
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• pp.174-184
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• 1997

This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.

• 소성∙가공
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• 제17권7호
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• pp.511-516
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• 2008

A drawbead die for the experimental determination of drawbead forces was newly introduced in this paper. While the conventional Nine's drawbead die inevitably includes effects of a blank holding force on the measured drawbead forces, the new drawbead die excludes it by removing the blank holder contact in the dieface. Therefore, the new drawbead die can provide more realistic drawbead forces without considering somewhat arbitrary effect of blank holder with the computational procedure of forming process. The drawbead opening force and restraining force obtained by adopting the two experimental dies were compared for the validation of accuracy in the FEM simulation of automotive fender forming process. The compared section strains and draw-ins confirmed that the present drawbead die provides better drawbead forces for an accurate FEM simulation of sheet metal forming process.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2004년도 추계학술발표대회 개요집
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• pp.171-173
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• 2004

Electromagnetic force is one of the most important factor that effect on metal transfer mode, short-circuit rate, spatter generation rate and mechanical properties of weld metal etc. Also, shielding gas and welding current have influence on metal transfer mode in GMAW. In this paper, different ways for external electromagnetic forces are applied by attaching cylindrically rounded conducting wire solenoid on touch tip holding. With the applied electromagnetic field, the arc transfer mode changes from normal mode to rotating mode and spatter generation decreased in electromagnetic fields(N-pole). In MIG welding, the influences of electromagnetic force on the spatter generation showed different tendency as in the $CO_2$ welding. It is possible reasons were discussed.

• 산업기술연구
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• 제19권
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• 반도체디스플레이기술학회지
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• 제1권1호
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• pp.9-13
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• 2002

A polyimide-type electrostatic chuck (ESC) was fabricated for the application of holding 8-inch silicon wafers in the oxide etching equipment. For the fabrication of the unipolar ESC, core technologies such as coating of polyimide films and anodizing treatment of aluminum surface were developed. The polyimide films were prepared on top of thin coated copper substrates for the good electrical contacts, and the helium gas cooling technique was used for the temperature uniformity of the silicon wafers. The ESC was essentially working with an unipolar operation, which was easier to fabricate and operate compared to a bipolar operation. The chucking force of the ESC has been measured to be about 580 gf when the applied voltage was 1.5 kV, which was considered to be enough force to hold wafers during the dry etching processing. The employment of the ESC in etcher system could make 8% enhancement of the wafer processing yield.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2007년도 춘계학술대회 논문집
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• pp.289-293
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• 2007

The effect of temperature on the forming limit diagram was investigated for AZ31B magnesium alloy sheet through the limit dome height test in the range from room temperature to $300^{\circ}C$. The formability of AZ31B sheet was improved significantly according to the increasing temperature. Also we studied the springback characteristics through the 2D draw bending test with different blank holding forces at elevated temperatures. Springback quantity was considerably reduced as temperature went up. The blank holding force in the range used, however, had little influence on springback. Experimental results obtained in this study may provide a material database for AZ31B sheet.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 춘계학술대회논문집
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• pp.389-392
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• 2003

The deterioration of dimensional accuracy, caused by springback, is one of problems to always occur in sheet metal forming processes. As the demand for lighter and stronger metals increases, the development of improved forming processes settling the springback problem becomes more important. In this work, springback phenomena are investigated which occur in the press forming process with the anisotropic sheet metal and axisymmetric tools. The improvement possibility of dimensional accuracies, mainly, flatness, will be examined by applying blank holding forces as a method of springback control.

• 소성∙가공
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• 제16권5호통권95호
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• pp.364-369
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• 2007

The effect of temperature on the forming limit diagram was investigated for AZ31B magnesium alloy sheet through the limit dome height test in the range from room temperature to $300^{\circ}C$. The formability of AZ31B sheet was improved significantly according to the increasing temperature. Also we studied the springback characteristics through the 2D draw bending test with different blank holding forces at elevated temperatures. Springback quantity was considerably reduced as temperature went up. The blank holding force in the range used, however, had little influence on springback. Experimental results obtained in this study may provide a material database for AZ31B sheet.