• 한국지능시스템학회논문지
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• 제8권3호
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• pp.95-103
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• 1998

접촉센서가 제공하는 tactile영상을 이용하여 접촉면의 형태를 인식할 때 영상의 모양은 접촉면에 가해지는 힘의 크기에 따라 변화된다. 따라서 많은 노력에도 부루하고 tactile 센서만을 이용하여 접촉면의 형태를 완전히 인식하는 것은 매우 어려운 일로 인식되고 있다. 본 논문에서는 이러한 문제를 해결하기 위해 tactile 영상이 얻어지는 때의 힘을 동시에 측정하고 힘에 따라 변화하는 영상의 모양을 퍼지융합 알고리즘을 이용하여 인식하는 방법을 제안한다. 접촉센서의 tactile 영상은 eigen vector해석 방벅을 적용하여 장축과 단축의 길이로 표현된다. 이들은 접촉 시에 가해지는 힘의 분포에 따른 경계선의 변호를 측정하여 만들어진 소속함수에 의해 퍼지화되며 Averaged Minkowski's distance를 이용하여 융합된다. 제안된 알고리즘은 다중센서시스템에 구현하여 실험하였으며 측정 시에 가해지는 힘의 크기 및 측정면의 종류에 고르게 86% 이상의 인식률을 보여 주었다. 제안된 알고리즘은 복수개의 손가락을 갖는 로봇의 손에 구현하면 작은 힘에도 변형되는 물체의 정밀한 조자이나 인식에 응용될 수 있다.

• Current Research on Agriculture and Life Sciences
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• 제21권
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• pp.23-29
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• 2003

Worldwide consumption of vegetable soybean bas been increasing recently, hence it is necessary to produce good quality of soybean in our farms. In the process of vegetable soybean production threshing and seperation work accounts for about 80% of overall labor. Therefore, developing of the vegetable soybean thresher is necessary to reduce the cost of labor. The purpose of this study is to acquire the basic informations to design of the vegetable soybeans-thresher. We make the experimental system which measure the physical properties and investigate the detachment forces. Also, We calculated the minimum speed of threshing cylinder. The result are as follows; 1. The average length of soybean stem is 68.2cm. 2. The length of soybean pods are seen as 61.3mm for 3 grain, 52.6mm fer 2 grains and 41.0mm fer 1 grain 3. The widths of soybean pods are seen as 14.1mm fer 3 grain, 13.8mm fer 2 grains and 13.4mm fer 1 grain. 4. The weights of soybean pods are seen as 4.1grams for 3 grains, 2.7grams for 2 grains and 1.4grams for 1 grain. 5. The average detachment forces of pods are seen as 1.5kgf for 3 grains, 1.2kgf for 2 grains and 0.8kgf for 1 grain respectively For 1 grain, the detachment force of pods ranges from 0.2kgf to 1.4kgf. For 2 grains, the minimum detachment force of pods is seen as 0.6kgf and the maximum one is seen as 2.5kgf. For 3 grains, the minimum detachment force of pods is seen as 0.7kgf and the maximum one is seen as 2.7kgf. 6. The minimum speed of threshing cylinder is shown 6.83m/s.

• 한국재료학회지
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• 제24권2호
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• pp.98-104
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• 2014

Vacuum kinetic spray(VKS) is a relatively advanced process for fabricating thin/thick and dense ceramic coatings via submicron-sized particle impact at room temperature. However, unfortunately, the particle velocity, which is an important value for investigating the deposition mechanism, has not been clarified yet. Thus, in this research, VKS average particle velocities were derived by numerical analysis method(CFD: computational fluid dynamics) connected with an experimental approach(SCM: slit cell method). When the process gas or powder particles are accelerated by a compressive force generated by gas pressure in kinetic spraying, a tensile force generated by the vacuum in the VKS system accelerates the process gas. As a result, the gas is able to reach supersonic speed even though only 0.6MPa gas pressure is used in VKS. In addition, small size powders can be accelerated up to supersonic velocity by means of the drag-force of the low pressure process gas flow. Furthermore, in this process, the increase of gas flow makes the drag-force stronger and gas distribution more homogenized in the pipe, by which the total particle average velocity becomes higher and the difference between max. and min. particle velocity decreases. Consequently, the control of particle size and gas flow rate are important factors in making the velocity of particles high enough for successful deposition in the VKS system.

• 한국지반공학회논문집
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• 제22권1호
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• pp.15-23
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• 2006

지진시 중력식 안벽에 작용하는 하중성분은 벽체 관성력, 토압 그리고 수압으로 구성되어 있는데 이러한 하중성분은 배면지반의 밀도, 자갈 뒤채움 등 배면지반 조건에 큰 영향을 받게 된다. 그러므로, 본 연구에서는 배면지반의 다짐정도, 자갈 뒤채움재의 설치여부를 달리한 총 4가지 배면지반 조건에 대한 진동대 실험을 수행한 후, 중력식안벽에 작용하는 벽체 관성력, 수압 그리고 배면토압의 크기와 위상관계를 분석하였다. 그 결과 자갈 뒤채움과 지반 다짐이 과잉간극수압 발생을 억제하는데 효과적이며, 배면 동적작용력의 크기와 위상은 과잉간극수압의 크기에 큰 영향을 받는 것으로 나타났다. 또한, 입력가속도 진폭이 0.1g 일때 전체하중에서 관성력, 전면동적수압 그리고 배면 작용력이 차지하는 비율은 각각 $64\%,\;21\%$ 그리고 $16\%$로 나타났으며 과잉간극수압의 크기가 증가함에 따라 전체합력에서 배면작용력이 차지하는 비율이 증가하였다.

• Journal of Biosystems Engineering
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• 제19권1호
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• pp.17-21
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• 1994

This reasearch was performed to provide the fundamental intonation for the mechanization of Korean pine cone harvest when the shoot shearing method is adopted. Shear force and stress of pine cone shoots were measured and analyzed for this purpose. Samples are selected along their harvesting time and tested in 17 levels of shoot diameter from 10 to 26mm with 1mm increment. 1) Shear force-deformation characteristics showed that shoot reached its rupture point after 2 to 4 of bio-yield points. It was supposed that these multiple bio-yield points were caused by the discrete compression of wood parts which are composed of water, nutrient, resin, etc. 2) Required shear force to shear shoot was proportional to the square of shoot diamter, however, shear force for shoots of early harvesting time(Aug. 31) was proportional to the shoot diameter. Variance of shear force was increased as the harvesting time was delayed. Shear forces were distributed from 468N(Aug. 31, 12mm dia) to 4153N(Aug. 31, 26mm dia) disregarding the sampling date. 3) The average shear stresses by sampling dates were 744,822, and 883N/m2, respectively, and for the earlier shoot samples shear stress was quite smaller than the others. Shear stress was proportional to shoot diameter squared, and the effect of shoot diameter on the shear stress was decreased as harvesting time was delayed.

• 한국항공우주학회지
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• 제36권11호
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• pp.1063-1071
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• 2008

단일층 압전작동기에 적절한 압축하중을 가하면, 압전세라믹 층에 가해지는 압축 응력에 의한 재료비선형적 특성과 기계적 좌굴현상에 의하여 작동 변위와 작동력이 동시에 향상된다. 본 논문에서는 날갯짓 기구를 압축하중을 받는 단일층 압전 작동기로 구동하는 경우, 날갯짓 각도와 공기력에 어떠한 영향이 발생하는가를 조사하였다. 또한 날개 형상과 수동 날갯 회전 각도가 공기력 발생에 미치는 영향도 실험적으로 조사하였다. 인공 날개를 2차원으로 가정한 전산유체해석을 통하여 얻은 평균 수직력이, 실험으로 얻은 값과 잘 일치함을 확인하였다.

• Journal of Mechanical Science and Technology
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• 제20권11호
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• pp.1801-1812
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• 2006

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, pushrod force as the end control parameter, and an antilock sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. Simulation results indicate that the velocity and spacing errors were slightly larger than the results that without considering wheel slip effect, the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and the limit for the antilock control on non-constant adhesion road condition was determined by the minimum of the equivalent adhesion coefficient.

• 기술혁신연구
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• 제16권2호
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• pp.201-223
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• 2008

This paper studies the supply and demand of Industrial Technology Labor-force(ITL) and analyzes the determinate of ITL shortage in Korean manufacturing. We classified the industry into four categories-high technology industries, medium-high technology industries, medium-low technology industries and low technology industries-based on its R&D intensity like OECD. For the empirical analyses we use a survey data collected from 5,703 enterprises. The key findings are as follows: Firstly, a large majority of ITL is engaged in more technology-intensive industries but the categories that are exposed to more serious labor-force shortage problem are medium-high technology industries and low technology industries. Secondly, in the terms of supply factor, the ITL shortage problems are mainly due to the avoidance of ITL jobs. And the demand point, the reason is that the most of ITL are not researchers but production managers. Thirdly, the cause of imbalance between supply and demand of ITL are different by the technological categories. For example, in the high technology industries, the supply factors, such as average wage and turnover rate played more important role in the imbalance. But in the low technology industries the demand factors, such as per capita sales and the ratio of ITL in all employees were relatively much more important. Based on the findings, we discovered some political meanings such as the necessity to plan various policies to resolve the shortage problem of ITL according to the technological categories, etc.

• 로봇학회논문지
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• 제6권3호
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• pp.274-283
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• 2011

A simplified linearized dynamic equation for the propulsion force generation of an Ostraciiform fish robot with elastically jointed double caudal fins is derived in this paper. The caudal fin is divided into two segments and connected using an elastic joint. The second part of the caudal fin is actuated passively via the elastic joint connection by the actuation of the first part of it. It is demonstrated that the derived equation can be utilized for the design of effective caudal fins because the equation is given as an explicit form with several physical parameters. A simple Ostraciiform fish robot was designed and fabricated using a microprocessor, a servo motor, and acrylic plastics. Through the experiment with the fish robot, it is demonstrated that the propulsion force generated in the experiment matches well with the proposed equation, and the propulsion speed can be greatly improved using the elastically jointed double fins, improving the average speed more than 80%. Through numerical simulation and frequency domain analysis of the derived dynamic equations, it is concluded that the main reason of the performance improvement is resonance between two parts of the caudal fins.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.188-193
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• 1996

This study was performed the blankholding force and vee-ring effects on Blanking characteristics, such as maximum blanking force, burnish, dish-shape, hardness. etc, in fine-blanking die by the experimental method. Two types of aluminum (Al. 1050-0, Al 5052-H) Such as annealed and unannealed materials were used for the experiment. In order to get a hydrostatic pressure effect, the clearance was set to 0.5% of the thickness of strip, and the counter punch and stripper plate with Vee-ring was set-up. While this experiment was carrying out, the average blanking Velocity was constant (37.5mm/sec) As a result of this study, we got a good surface roughness and a glassy shear plane(burnish) of the sheet over 90% thickness, and such as the excellent accuracy of dimensions, the good squareness and the reduction of dish-shape could be obtained, and also the additional results obtained were such that the hardness of shear plane was increased and the maximum blanking force was reduced in the condition of Vee-ring height of 1.0~1.5mm, and blankholding force of 1200kg.