• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.17-25
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• 2014

This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all uncertainties in an on-line manner. Compensation at the input trajectory leads to a remarkable structural advantage in that no modifications of the internal force controllers are required. Minimizing the objective function of the training signal for a neural network satisfies the desired force tracking performance. A neural network actually compensates for uncertainties at the input trajectory level in an on-line fashion. Simulation results confirm the position and force tracking abilities of a robot manipulator.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.532-537
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• 2011

This paper describes the development of SPH(Smooth Particle Hydrodynamics) scheme and integration into the multi-material shock physics code(ExLO) for the purpose of the application to the extreme large deformation problems. SPH numerical scheme has been extended into the fluid dynamics and the high-speed impact events, such as space structure protection against space debris and meteorite catering. Like other hydrocodes, SPH scheme also solves the conservation equations with the constitutive equation including equation of state. The benchmark problem, Taylor-Impact test, was simulated and the predictions show good agreements with both the published numerical data and experimental data. Currently, the contact treatment between materials is under development.

• Proceedings of the KSR Conference
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• 2003.10c
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• pp.3-7
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• 2003

The dynamics of the pantograph motion and contact forces of the high-speed railway are investigated through signals. acquired during a test run. The signals are obtained from accelerometers, load cells, and strain gauges attached to various positions of the pantograph, and they are processed in time-and frequency-domains to evaluate the dynamic characteristics and load forces. The natural frequencies of the pantograph is found to be 8.5Hz. There also are frequency components varying linearly with the train speed. The signal frequency components above 40Hz are attenuated as they pass through the primary and secondary suspensions.

• Journal of ILASS-Korea
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• v.17 no.1
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• pp.27-34
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• 2012

In this paper an experimental study is presented to investigate the effect of a step edge and a stationary droplet on the dynamic behavior of impacting droplet on a wall. The main parameters are the distance from the edge and the center-to-center distance between two droplets. Photographic images are presented to show coalescence dynamics, shape evolution and contact line movement. The emphasis is on presenting the spreading length of droplet for the step edge and two coalescing droplets along their original centers. It is clarified that the droplet exhibits much different dynamic behavior depending on the location of the step edge. The momentum of impacting droplet was better transferred to the stationary droplet as the center- to-center distance between two droplets was reduced, which results in more spreading of coalescing droplet.

• Journal of the Korean Society for Railway
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• v.10 no.1 s.38
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• pp.22-28
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• 2007

During the passage of the train, the railway bridge undergoes vibration and noise. The noise of railway bridge can be occurred from various sources. The wheel-rail contact, noise from machinery parts, structural-borne noise, pantagraph noise and aerodynamic noise of the train work in combination. Running train is one of the most important factors for railway bridge vibration. The repeated forces with equidistant axles cause the magnification of dynamic responses which relates with maintenance of the track structure and structure-borne noises. The noise problem is one of the most important issues in services of light rail transit system which usually passes through towns. In the present study, The vibration and noise of the LRT bridge will be investigated with utilizing dynamics responses from moving train as input data for noise analysis.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.444-451
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• 2005

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points. The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis. Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated. Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement. To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.1
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• pp.108-112
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• 2001

Heart sound contains rich information regarding the dynamics of the heart and the auscultation has been a first choice of routine procedures for diagnosis of the heart. However, heart sounds captured using a conventional stethoscope are not often loud or clear enough for doctors to precisely classify their characteristics, especially, under the noisy environments of the hospital. A simple auscultation device that removed shortcomings of the conventional stethoscope was constructed in the study. The device employed a polymer based adherent differential output sensor which was on contact with skin through a coupling medium and appropriated electronic circuits for signal amplification and conditioning An ordinary headphone is taken to hear the captured heart sounds and the volume can be adjusted to hear well. It is also possible that the device sends the captured heart sound signals to a PC where the signals are further processed and viualized.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.217-224
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• 2000

This paper proposes a new type of HDD suspension integrated with shape memory alloy(SMA) actuator in order to prevent the friction between the slider and the disk. A finite element analysis is undertaken to investigate modal characteristics of the proposed self loading/unloading slider. The dynamic model is formulated and its validity is proved by comparing the predicted displacement transmissibility with the measured one. A control model is then established by integrating experimentally-obtained SMA actuator dynamics. Subsequently, a sliding mode controller is designed to achieve non-contact start/stop(Non CSS) modes, and control results are presented in time domain.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.185-188
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• 2000

Heart sound contains rich information regarding the dynamics of the heart and the auscultation has been a first choice of routine procedures for diagnosis of the heart. However, heart sounds captured using a conventional stethoscope are not often loud or clear enough for doctors to precisely classify their characteristics, especially, under the noisy environments of the hospital. A simple auscultation device that removed shortcomings of the conventional stethoscope was constructed in the study. The device employed a polymer based adherent differential output sensor which was on contact with skin through a coupling medium and appropriated electronic circuits for signal amplification and conditioning. An ordinary headphone is taken to hear the captured heart sounds and the volume can be adjusted to hear well. It is also possible that the device sends the captured heart sound signals to a PC where the signals are further processed and viualized.

• Proceedings of the KSR Conference
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• 2009.05b
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• pp.465-470
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• 2009

This paper discusses the numerical study on the dynamics of the high-speed EMU by developing the 34 degrees-of-freedom (DOF) lumped parameter model including the effect of the creepage. In order to reflect the creepage, the Kalker's wheel-rail contact theory is introduced in the proposed model. The dynamic analysis using $Matlab^{(R)}$ software is conducted, and its results are compared with those from ADAMS/Rail to investigate the validity of the proposed 34-DOF lumped parameter model. It is demonstrated that the results from the numerical study are similar to those from ADAMS/Rail. In addition, the critical design parameters of high-speed EMU are examined, and the design guidelines for reducing vibration and enhancing ride quality are proposed.