• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2072-2077
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• 2003

Animal-like robots are serving an important role as a linkage between biology and engineering. So, in this paper, we aim to develop a biomimetic microrobot that mimics the locomotion mechanism of a gastropod. This microrobot has 3 DOF (x, y translation and rotation), and has small size, unlimited traveling range, high resolution and low cost. Its movement can be made using propagation wave that is generated by the controllable sinusoidal voltage source and piezoelectric effects. This soft motion that can be generated by propagation wave and piezoelectric mechanism would be useful for the motion on the slippery surface. So we modeled the propagation wave mechanism including piezoelectric effect and friction on the contact surface, and could know the velocity of the microrobot is dependent on the driving frequency, input voltage peak, propagation wavelength and surface friction coefficient. With these results we design the microrobot, and accomplish its fabrication and experimentation. The development of this microrobot shall be aimed to design an autonomous moving actuator like animal. Also it can be used from micromanipulation system technology to biology and medicine.

• Physical Therapy Korea
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• v.10 no.1
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• pp.97-108
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• 2003

Slipping during various kinds of movement often leads to potentially dangerous incidents of falling. The purpose of this paper was to review some of the research performed in the field including such topics as rating scales for balance, kinematics and kinetics of slipping, adaptation to slippery conditions, postural and balance control, and protective movement during falling. Controlling slipping and fall injuries requires a multifaceted approach. Environmental conditions (state of floor surface, tidiness, lighting, etc), work task (walking, carrying, pushing, lifting, etc), and human behavior (anticipation of hazards, adaptation to risks, risk taking, etc) must be accounted for in the assessment of slip and fall-related risks. Future directions of research must deal with modeling of basic tribophysical, biomechanical, and postural control process involved in slipping and falling.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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• pp.861-868
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• 1999

Drainage concrete pavement, unlike water permeable concrete pavement, is to preclude the pavement from overflowing with water, such as rain water, from infiltrating into earth by placing a border in the middle layer which makes water to flow through the surface of the border to the conduit. Drainage concrete pavement enhances car wheel resistance to slippery and wet road surface and imbibes noise caused by friction on the road. Also, by using pigment, it adds to the beauty of the environment. Drainage concrete pavement can be used for sidewalks, roadways, parking lots and expressways.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.1
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• pp.56-62
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• 2011

Terrain recognition ability is crucial to the performance of legged robots in an outdoor environment. For instance, a robot will not easily walk and it will tumble or deviate from its path if there is no information on whether the walking surface is flat, rugged, tough, and slippery. In this study, the ground surface recognition ability of robots is discussed, and to enable walking robots to recognize the surface state and changes, a central moment method was used. The values of the sensor signals (load cell) of robots while walking were detected in the supported section and were analyzed according to signal variance, skewness, and kurtosis. Based on the results of such analysis, the surface state was detected and classified.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.41-41
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• 2000

biped robots are expected to robustly traverse terrain with various unknown surfaces. The robot will occasionally encounter the unexpected events in made-for human environments. The slipping is a very real and serious problem in the unexpected events. The robot system must respond to the unexpected slipping after it has occurred and before control is lost. This paper proposes a reflex control method for biped robots to recover from slipage. Computer simulations with the 6-DOF environment model which consists of nonlinear dampers, nonlinear springs, and linear springs, show that the proposed method is effective in preventing fall-down due to slippage.

• Safety and Health at Work
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• v.9 no.1
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• pp.17-24
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• 2018

Background: Increasing the slip resistance of floor surfaces would be desirable, but there is a lack of evidence on whether traction properties are linearly correlated with the topographic features of the floor surfaces or what scales of surface roughness are required to effectively control the slipperiness of floors. Objective: This study expands on earlier findings on the effects of floor surface finishes against slip resistance performance and determines the operative ranges of floor surface roughness for optimal slip resistance controls under different risk levels of walking environments. Methods: Dynamic friction tests were conducted among three shoes and nine floor specimens under wet and oily environments and compared with a soapy environment. Results: The test results showed the significant effects of floor surface roughness on slip resistance performance against all the lubricated environments. Compared with the floor-type effect, the shoe-type effect on slip resistance performance was insignificant against the highly polluted environments. The study outcomes also indicated that the oily environment required rougher surface finishes than the wet and soapy ones in their lower boundary ranges of floor surface roughness. Conclusion: The results of this study with previous findings confirm that floor surface finishes require different levels of surface coarseness for different types of environmental conditions to effectively manage slippery walking environments. Collected data on operative ranges of floor surface roughness seem to be a valuable tool to develop practical design information and standards for floor surface finishes to efficiently prevent pedestrian fall incidents.

• Journal of the Korean Society of Safety
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• v.28 no.2
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• pp.14-20
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• 2013

All most of floors can become less slip resistant with wear. The deterioration of slip resistance can often occur rapidly. So relatively new products can become hazardous within a short period of time. The main objective of this study was the comparison of slip resistance variations caused by traffic wear and accelerative wear. The second objective was to ascertain the effect of wear, and to find out the causes of slip resistance change. Although statistical differences were observed between results of traffic wear and accelerative wear, the trend of the variations of slip resistance caused by traffic wear and accelerative wear was very similar. The measured slip resistance of tested floor changed up to 29%(and 26.5%) after 100,000 steps(and 750 cycles). As the traffic wear and accelerative wear were progressed, the surface roughness of the tested floor became smoother, and so the floor became more slippery under the wet condition. The abraded(worn out) floor surface tended to become hydrophilic surface, while the new floor surface tended to show hydrophobic nature. This phenomenon would change the wettability of floor surface, and the wettability would affect the variation of slip resistance.

• Elastomers and Composites
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• v.34 no.4
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• pp.315-320
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• 1999

Surface modification of silicone rubber by low temperature plasma process was investigated to improve quality of silicone EVD tube by reducing tackiness and hydrophobicity. Treatment with nonpolymer-forming plasmas and thin film deposition with polymer-forming plasmas were tried. Tackiness could significantly be reduced, especially by thin film deposition. As a result, the tube became slippery and less vulnerable to contamination in laboratory environment. Inner as well as outer surface of the tube could be changed to be hydrophilic if the plasma contained oxygen. As a result, initial hydrodynamic resistance was reduced. The surface modification did not give any bad influence on mechanical properties of the silicone tube in most cases. Rather, some properties such as Young's modulus, ultimate tensile strength and elongation at break were improved.

• Special Issue of the Society of Naval Architects of Korea
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• 2017.10a
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• pp.105-108
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• 2017

Condensation is one of the common issues which we can easily see in everyday life. For example, the surface of glasses with cold water is easily moisturized. This wet surface gives us uncomfortable feeling and is sometimes dangerous because it is slippery. As the safety on working space is one of the most important issue on offshore project, condensation is also important matter to take care of with precaution. Since the bottom of vessel or offshore facility is submersed in the water, the risk of having condensate on the steel surface is getting higher because sea water temperature is normally lower than ambient temperature. And if there is any electric equipment or person working in that space, condensation is normally not allowed. The pontoon of semi-submersible drilling rig is such a space which is submersed, with electric and mechanical equipments and person working periodically. To prevent condensation in pontoon, study was conducted by checking several cases.