• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1998.03a
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• pp.210-213
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• 1998

A kinematically admissible velocity field is developed for the analysis of twisting of extruded products. The twisting of extruded product is caused by the linearly increased rotational velocity from the center on the cross-section of the workpiece at the die exit. In the analysis, the rotational velocity in angular direction is assumed by the multiplication of radial distance and angular velocity. The angular velocity is zero at the die entrance and is increased linearly by axial distance from die entrance. The increase rate of angular velocity is determined by the minimization of plastic work. The results of the analysis show that the angular velocity of the extruded product increase with the die twisting angle and the aspect ratio of product and friction condition and reduction area and show that angular velocity increases with the decreases in die length.

• Transactions of Materials Processing
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• v.7 no.4
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• pp.340-346
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• 1998

A kinematically admissible velocity field is developed for the analysis of twisting of the extruded products with elliptical shapes from round billet. The twisting of extruded product is caused by the lin-early increased rotational velocity from the center on the cross-section of the workpiece at the die exit. In the analysis the rotational velocity in angular direction is assumed by the multiplication of radial distance and angular velocity. The angular velocity is zero at the die entrance. The increase rate of angular velocity is determined by the minimization of plastic work. The results of the analysis show that the angular velocity of the extruded product in creases with the die twisting angle, the aspect ratio of product the friction condition, the reduction of area, and decreases with the die length.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1997.03a
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• pp.130-135
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• 1997

A kinematically admissible velocity field is developed for the analysis of twisting of extruded products. The twisting of extruded product is caused by the linearly increased rotational velocity from the center on the cross-section of the workpiece at the die exit. In the analysis, the rotational velocity in angular direction is assumed by the multiplication of radial distance and angular velocity. The angular velocity is zero at the die entrance and is increased linearly by longitudinal distance from die entrance. The increase rate of angular velocity is determined by the minimization of plastic work. The results of the analysis show that the angular velocity of the extruded product changes with the aspect ratio of product and increases with the decreases in die length and in eccentricity of gravity center of the cross-section of workpiece at die entrance from that of the cross-section at the die exit.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.29-36
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• 2008

An optical rotary encoder is easy to implement for automation system applications. In particular, the output of the encoder has a digital form pulse, which is also easy to be connected to a popular digital controller. By using an incremental encoder and a counting device, it is easy to measure angular displacement, as the number of the output pulses is proportional to the rotational displacement. This method can only detect the angular placement once a pulse signal comes out of the encoder. The angular displacement detection period is strongly subject to the change of the angular displacement in case of ultimate low velocity range. They have ultimate long detection period or cannot even detect angular displacement at near zero velocity. This paper proposes an algorithm for detecting angular displacement by using a dual encoder system with two encoders of normal resolution. The angular displacement detecting algorithm is able to keep detection period moderately at near zero velocity and even detect constant angular displacement within nominal period. It is useful for motion control applications in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the angular displacement detection algorithm.

• Korean Journal of Applied Biomechanics
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• v.21 no.1
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• pp.39-46
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• 2011

The purpose of this study was to examine differences between players who bend the left elbow and those who stretch it during the forward swing from BST to BC in a 2-handed backhand stroke among outstanding high school tennis players, and to assess the detailed 3D rotational kinematic characteristics of the shoulder and the hip. Statistically significant differences were observed between groups in the longitudinal axis rotation angle of the shoulder and the angle between the shoulder and the arm at BST, and in the side to side movement of the shoulder, the up and down movement of the hip, the side tilt angular velocity of the shoulder, the side tilt angular velocity of the hip, and the front tilt angular velocity of the hip at BC. The difference in the longitudinal axis rotation angle of the shoulder between the 2 groups suggests a difference in the flexibility of the joint in the shoulder arm racquet system. The longitudinal axis rotation angular velocity of the shoulder reached its peak at 75 % of the duration of the analyzed segment and then decreased little by little until BC. This time is considered the stage for increasing the angular velocity of the upper arm, the forearm, the hand and then the racquet, which are more distal segments than the shoulder.

• Transactions of Materials Processing
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• v.8 no.2
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• pp.143-151
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• 1999

The twisting and extrusion process of the product with trapezoidal helical fin from the round billet is developed by the upper bound analysis. The twisting of extruded product is caused by the twisted die surface connecting the die entrance section and the die exit section linearly. In the analysis, the rotational velocity in angular direction is assumed by the multiplication of radial distance and angular velocity. The angular velocity is increased linearly by axial distance from the die entrance. The increase rate of angular velocity is determined by the minimization of plastic work. The results of the analysis show that the angular velocity of the extruded product increases with the die twisting angle, the reduction of area, and decreases with the die length, the friction condition.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.82-88
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• 2009

The output of the encoder is a digital pulse, which is also easy to be connected to a digital controller. There are various angular velocity detecting methods of M, T, and M/T. Each of them has its own properties. There is a common limitation that the angular velocity detection period is strongly dependent on the destination velocity magnitude in case of ultimate low range. They have ultimately long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a zero velocity detectable sensor algorithm with the dual encoder system. The sensor algorithm is able to keep detection period moderately at near zero velocity and even detect zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the algorithm validity.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.9
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• pp.76-85
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• 2007

An optical rotary encoder is easy to implement for automatic control applications. In particular, the output of the encoder has a digital form pulse, which is also easy to be connected to a popular digital controller. By using the encoder, there are various angular velocity detecting methods, M-, T-, and M/T-method. Each of them has a property of its own. They have common limitation that the angular velocity detection period is strongly subject to the destination velocity magnitude in case of ultimate low range. They have ultimate long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a dual encoder system with two encoders of normal resolution. The dual encoder system is able to keep detection period moderately at near zero velocity and even detects zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the dual encoder system validity.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• Smart Structures and Systems
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• v.24 no.3
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• pp.303-317
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• 2019

Magneto-rheological fluid (MRF) rotatory dampers are normally used for controlling the constant rotation of machines and engines. In this research, such a device is proposed to act as variable stiffness device to alleviate the rotational oscillation existing in the many engineering applications, such as motor. Under such thought, the main purpose of this work is to characterize the nonlinear torque-angular displacement/angular velocity responses of an MRF based variable stiffness device in oscillatory motion. A rotational hysteresis model, consisting of a rotatory spring, a rotatory viscous damping element and an error function-based hysteresis element, is proposed, which is capable of describing the unique dynamical characteristics of this smart device. To estimate the optimal model parameters, a modified whale optimization algorithm (MWOA) is employed on the captured experimental data of torque, angular displacement and angular velocity under various excitation conditions. In MWOA, a nonlinear algorithm parameter updating mechanism is adopted to replace the traditional linear one, enhancing the global search ability initially and the local search ability at the later stage of the algorithm evolution. Additionally, the immune operation is introduced in the whale individual selection, improving the identification accuracy of solution. Finally, the dynamic testing results are used to validate the performance of the proposed model and the effectiveness of the proposed optimization algorithm.