• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.164-171
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• 2023

To control the spread of COVID-19, it is important to identify the infection in its incipient stages so that the infected persons can be dealt with accordingly. The currently used face to face sampling method may increase the risk of infection for medical professionals as it exposes them to the asymptomatic yet infectious patients. This can result in further increases in the load on the medical system and workload of the medical staff. As a solution to this problem, in this paper, we present a robotic system for rapid non-face-to-face automatic nasopharyngeal swab sample collection. The system consists of a custom designed 7-DoF manipulator equipped with a specially developed safety mechanism for restricting the maximum force applied by the tip of the swab. During the swab sampling process, the force applied by the tip of the swab is continuously monitored in real-time by a 3-axis force sensor in order to detect contact with the nasopharynx. The possibility of using this system for automaticnasopharyngeal swab sample collection is proven through experimentation with a phantom model.

• Smart Structures and Systems
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• v.16 no.5
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• pp.759-780
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• 2015

Based on the theory of piezoelasticity, the static performance of a piezoelectric bilayer cantilever fully covered with electrodes on the upper and lower surfaces is studied. Three models are considered, i.e., the sensor model, the driving displacement model and the blocking force model. By establishing suitable boundary conditions and proposing an appropriate Airy stress function, the exact solutions for piezoelectric bilayer cantilevers are obtained, and the effect of ambient thermal excitation is taken into account. Since the layer thicknesses and material parameters are distinguished in different layers, this paper gives unified solutions for composite piezoelectric bilayer cantilevers including piezoelectric bimorph and piezoelectric heterogeneous bimorph, etc. For some special cases, the simplifications of the present results are compared with other solutions given by other researches based on one-dimensional constitutive equations, and some amendments have been found. The present investigation shows: (1) for a PZT-4 piezoelectric bimorph, the amendments of tip deflections induced by an end shear force, an end moment or an external voltage are about 19.59%, 23.72% and 7.21%, respectively; (2) for a PZT-4-Al piezoelectric heterogeneous bimorph with constant layer thicknesses, the amendments of tip deflections induced by an end shear force, an end moment or an external voltage are 9.85%, 11.78% and 4.07%, respectively, and the amendments of the electrode charges induced by an end shear force or an end moment are both 1.04%; (3) for a PZT-4-Al piezoelectric heterogeneous bimorph with different layer thicknesses, the maximum amendment of tip deflection approaches 23.72%, and the maximum amendment of electrode charge approaches 31.09%. The present solutions can be used to optimize bilayer devices, and the Airy stress function can be used to study other piezoelectric cantilevers including multi-layered piezoelectric cantilevers under corresponding loads.

• Journal of Power System Engineering
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• v.13 no.6
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• pp.13-21
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• 2009

This basic study is required to examine spray or jet behavior depending on fuel phase. In this study, analyses of diesel fuel(n-Tridecane, $C_{13}H_{28}$) spray and natural gas fuel(Methane, $CH_4$) jet under high temperature and pressure are performed by a general-purpose program, ANSYS CFX release 11.0, and the results of these are compared with experimental results of diesel fuel spray using the exciplex fluorescence method. The simulation results of diesel spray is analyzed by using the combination of Large-Eddy Simulation(LES) and Lagrangian Particle Tracking(LPT) and of a natural gas jet is analyzed by using Multi-Component Model(MCM). There are two study variables considered, that is, ambient pressure and injection pressure. In a macroscopic analysis, the higher ambient pressure is, the shorter spray or jet tip penetration is at each time after start of injection. And the higher injection pressure is, the longer spray or jet tip penetration is at each time after start of injection. When liquid fuel is injected, droplets of the fuel need some time to evaporate. However, when natural gas fuel is injected, the fuel does not need time to evaporate. Gas fuel consists of minute particles. Therefore, the gas fuel is mixed with the ambient gas more quickly at the initial time of injection than the liquid fuel is done. The experimental results also validate the usefulness of this analysis.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.9 no.1
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• pp.1-7
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• 1976

1) The decrease in strength of netting twines at the knot may be regarded to be due mainly to the frictional force acting on the tip of the knot. The knot strength T may be given by $$T=\frac{T_0}{1+{\mu}\frac{s}{\rho}\varrho^{\mu\theta}$$ were $T_0$ is the tensile strength of unknotted netting twines, $\mu$ the coefficient of friction beween two netting twines forming a knot, s the contact length between the tip and the netting twine compressing it, $\rho$ the radius of curvature of the compressing, and $\theta$ the angle at which the compressing rubs with another one in the vicinity of the opposite tip. 2) Knots are arranged in order of strength as follows : the reef knot pulled lengthwise $\risingdotseq$ the trawler knot pulled breadtwise the reef knot pulled breadthwise.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.10
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• pp.1210-1218
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• 2004

Experimental study was performed to investigate the flow behavior in boundary layer on the blade suction surface of a multi-stage axial flow compressor, which was focused on the third stage of the 4-stage Low Speed Research Compressor. Flow measurements in the boundary layer were obtained using a boundary layer hot wire probe, which was traversed normal to the blade suction surface at small increments by the probe traverse specially designed. Detailed boundary layer flow measurements covering most of the stator suction surface were taken and are described using time mean and ensemble averaged velocity profiles. Amplitude of the velocity fluctuation and turbulence intensity in the boundary layer flow are also discussed. At midspan, narrow but strong wake zone due to passing wake disturbances is generated in the boundary layer near the blade leading edge for the rotor blade passing period. Corner separation is observed at the tip region near the trailing edge, which causes to increase steeply the boundary layer thickness.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.690-695
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• 2001

The three-dimensional spatial structures of impeller flow created by a six bladed Rushton turbine have identified based on the volumetric velocity information from multi-plane stereoscopic PIV measurements. A total of 10 planes with 2 mm space with a 50 mm by 64 mm size of the field of view were targeted. To reduce the depth of focus, we adopted an angle offset configuration which satisfied the Scheimpflug condition. The distortion compensation procedure was utilized during the in situ calibration. Phase-locked instantaneous data were ensemble averaged and interpolated in order to obtain mean 3-D, volumetric velocity fields on a 60 degree sector of a cylindrical ring volume enclosing the turbine blade. Using the equi-vorticity surface rendering, the spatial structure of the trailing vortices was clearly demonstrated. Detail flow characteristics of the radial jet reported in previous studies of mixer flows were easily identified.

• Journal of ILASS-Korea
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• v.4 no.1
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• pp.45-54
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• 1999

The spray characteristics of a direct injection multi-hole diesel nozzle having the 2-spring nozzle holder were investigated by using the image processing system and a PDPA(phase Bowler particle analyzer) system. The spray tip penetration, the spray angle, and the droplet diameter and velocity with the variation of the pump speed, injection quantity were measured. From, the experiments, we know that there are small droplets which are not to be detected with spray image around the leading edge of the spray. In order to represent the mean characteristics of the intermittent spray very well, it is very important to set the time windows accurately. From the measurements along the axis of the spray, close to the nozzle, the initially injected droplets are overtaken by droplets that follow them. And also there are the maximum axial mean velocity and SMD at the following part of the leading edge of the spray.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.6
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• pp.773-780
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• 2003

The three-dimensional spatial structures of impeller flow created by a six bladed Rushton turbine have identified based on the volumetric velocity information from multi-plane stereoscopic PIV measurements. A total of 10 planes with 2 mm space and a 50 mm by 64 mm size of the field of view were targeted. To reduce the depth of focus, we adopted an angle offset configuration which satisfied the Scheimpflug condition. The distortion compensation procedure was utilized during the in situ calibration. Phase-locked instantaneous data were ensemble averaged and interpolated in order to obtain mean 3-D. volumetric velocity fields on a 60 degree sector of a cylindrical ring volume enclosing the turbine blade. Using the equi-vorticity surface rendering, the spatial structure of the trailing vortices was clearly demonstrated. Detail flow characteristics of the radial jet reported in previous studies of mixer flows were easily identified.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2008.05a
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• pp.220-223
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• 2008

Large curved plate blocks are widely used to construct hull structure in shipbuilding industry. Most curved plates are manufactured by using manual method called as line heating that use deformation caused by residual stress after local heating along a line which is perpendicular to the curvature direction. However, its working environment is poor and its formability is totally dependent on an experienced technician. In view of that, multi-point dieless forming (MDF) technology that use reconfigurable punch arrays instead of one piece die is proposed in this study. The MDF process is based on a concept of equivalent die surface made by numbers of punches which has round tip at the end of it. In this study, numerical simulation for common curvature type such as saddle shape was carried out. In addition, experiments in the plate forming process were also conducted to compare with the numerical results in view of final configuration. Consequently, it was noted that the proposed dieless forming method has considerable feasibility to substitute the new process for conventional manual method.