• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1079-1088
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• 2002

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• Fibers and Polymers
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• 제7권4호
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• pp.328-332
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• 2006

Poly(ethylene terephthalate) (PET) and poly(ethylene glycol) (PEG) copolymers cross-linked with pentaerythritol, a four-way cross-linker, are prepared to compare their mechanical and shape memory properties with the one cross-linked by glycerol. Composition of PEG and pentaerythritol is varied to search for the one with the best mechanical and shape memory properties. The highest shape recovery rate is observed for the copolymer composed of 30 mol% PEG-200 and 2.5 mol% pentaerythritol. Four-way cross-linking by pentaerythritol significantly improves shape recovery rate and retention of high shape recovery rate after repeated use compared to the one cross-linked by glycerol, a three-way cross-linker, and difference and advantage of additional cross-linking point are discussed.

• International Journal of Vascular Biomedical Engineering
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• 제1권2호
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• pp.20-29
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• 2003

A new treatment for coronary artery occlusive disease is being developed in which a shunt or conduit is placed directly connecting the left ventricle with the diseased artery at a point distal to the obstruction. To aid in assessing and optimizing its benefit, a computational model of the cardiovascular system was developed and used to explore various design conditions. Simulation results indicate that in complete LAD occlusion, flow can be returned to approximately 65% of normal if the conduit resistance is equal for forward and reverse flow, increasing to 80% in the limit in which backflow resistance is infinite. Increases in flow rate produced by asymmetric flow resistance are considerably enhanced in the case of a partial LAD obstruction since the primary effect of resistance asymmetry is to prevent leakage back into the ventricle("steal") during diastole. Increased arterial compliance has little effect on net flow with a symmetric shunt, but leads to considerable augmentation when the resistance is asymmetric. These results suggest that an LV-LAD conduit will be beneficial when stenosis resistance(Rst) > 27 PRU if resistance is symmetric.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.814-819
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• 2004

Soft engineering, based on symbiotic coexistence of human, machines and environment, is a new engineering field to explore the proper technology and the proper way of engineering. To explore soft engineering intents easily, various robot projects at Pusan National University conducted are presented. Thought experiment, interactive e-leaning, rapid prototyping engineering, biomimciry, tangibility, and ubiquity are concepts to be explored. Thought experiments projects are organized and performed, which include robot assembly game, Turing test, and robotics in science fiction. "Junk robot project" and "ubiquitous Pusan National University (u-PNU) project" have been organized. Also, bug robot project, interactive robot project, and interactive emotional robot projects are introduced. Weekly science fiction films are shown and discussed.

• 콘크리트학회논문집
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• 제16권4호
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• pp.573-579
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• 2004

For the fast construction and replacement of bridges in urban area, a prefabricated bridge system can be an excellent alternative. Details of prefabricated slabs for PSC girders were developed and static tests on shear connections were conducted to propose design equations of the shear connection. Stirrups and stud connectors were used as shear connectors and non-shrink mortar was used for the filling material in shear pockets for shear connectors. Stirrups and studs were fabricated to insert embedded nut-type devices in PSC girders. Shear strength of the shear connection considering chemical bond, friction and mechanical connectors was evaluated and empirical equations were suggested. Due to the mechanical connectors, ultimate slip capacity of the shear connection was sufficient for shear load redistribution, and suggested details of the shear connection showed good performance in terms of strength and ductility.

• 대한기계학회논문집A
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• 제28권6호
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• pp.701-708
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• 2004

This paper discusses applicability of the enhanced reference stress method to estimate J-integral along the semi-elliptical surface crack front. It is found that angular variations of normalized J­integral are strongly dependent on the geometry, loading mode and loading magnitude. As application of the reference stress approach to semi-elliptical surface cracks implies proportional increases in the normalized J-integral, the present results pose a question in applicability of the reference stress approach. However, investigation of the error in the estimated J-integral in the present work suggests that the enhanced reference stress approach, recently proposed by authors, provides an effective engineering tool fur estimating crack driving force along the semi-elliptical surface crack front.

• 한국자동차공학회논문집
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• 제14권4호
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• pp.92-98
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• 2006

In this paper, a planar car model with 3 degrees of freedom was analyzed using the concept of the roll center. To avoid ambiguity, force components which require experimental data were excluded. Only kinematic approach was used to find the position and orientation of the vehicle body and the position of the roll center. The roll center was found by the pole with infinitesimal movement and Kennedy-Aronhold theorem. Centrodes, which are the loci of instantaneous centers of planar motion, were constructed with analyzed results to show characteristics of vehicle body motion. To verify the presented analysis method in this paper, the locus of the roll center and the motion of a 3 D.O.F. planar car model were compared with those of the 1 D.O.F. model.

• 한국섬유공학회:학술대회논문집
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• 한국섬유공학회 2007년도 학술발표회 논문집
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• pp.31-34
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• 2007

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• International Journal of Automotive Technology
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• 제7권7호
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• pp.833-839
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• 2006

In this paper, roll behavior of three planar half car models are compared. The first model is a simple model whose contact point between a wheel and the ground is assumed to be fixed with a revolute joint. The second model is a modified model of the fIrst model, whose wheel tread width can vary. In this model, the instant center of a wheel with respect to the ground, which is crucial to find the roll center, is assumed to be at the contact point of a wheel and the ground. The last model uses the pole of a wheel with respect to the ground for small displacement as the instant center of a wheel with respect to the ground. Loci of the center of gravity point, the fixed and the moving centrodes which are traces of roll center position in the ground and the body frame respectively, wheel contact points, and instant centers of a wheel with respect to the ground are calculated.