• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.422-422
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• 2000

Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Journal of Engineering Education Research
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• v.21 no.3
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• pp.12-19
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• 2018

In this study, a new experimental device was developed for measurement of the coefficient of kinetic friction using a photo gate timer system which have advantages of easy and accurate detection of motion. This device, consisting of a side air-guide track and a side friction-free glider, forces a friction sample to move in a straight line without producing unnecessary friction. The new device is compared to two conventional measuring methods of friction for four different friction samples: one is using a camera system and the other is using a force sensor. It is demonstrated that the developed friction device in this study is easier to operate and produces the most accurate and the least deviating results among them. On the basis of these results, we propose that friction experiment using the new friction device is included in general physics experiment, so that engineering students should have a chance to get correct understanding of classical mechanics including friction phenomenon.

• Tribology and Lubricants
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• v.11 no.5
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• pp.128-135
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• 1995

Atomic force microscopy/friction force microscopy (AFM/FFM) techniques are increasingly used for tribological studies of engineering surfaces at scales, ranging from atomic and molecular to microscales. These techniques have been used to study surface roughness, adhesion, friction, scratching/wear, indentation, detection of material transfer, and boundary lubrication and for nanofabrication/nanomachining purposes. Micro/nanotribological studies of single-crystal silicon, natural diamond, magnetic media (magnetic tapes and disks) and magnetic heads have been conducted. Commonly measured roughness parameters are found to be scale dependent, requiring the need of scale-independent fractal parameters to characterize surface roughness. Measurements of atomic-scale friction of a freshly-cleaved highly-oriented pyrolytic graphite exhibited the same periodicity as that of corresponding topography. However, the peaks in friction and those in corresponding topography were displaced relative to each other. Variations in atomic-scale friction and the observed displacement has been explained by the variations in interatomic forces in the normal and lateral directions. Local variation in microscale friction is found to correspond to the local slope suggesting that a ratchet mechanism is responsible for this variation. Directionality in the friction is observed on both micro- and macro scales which results from the surface preparation and anisotropy in surface roughness. Microscale friction is generally found to be smaller than the macrofriction as there is less ploughing contribution in microscale measurements. Microscale friction is load dependent and friction values increase with an increase in the normal load approaching to the macrofriction at contact stresses higher than the hardness of the softer material. Wear rate for single-crystal silicon is approximately constant for various loads and test durations. However, for magnetic disks with a multilayered thin-film structure, the wear of the diamond like carbon overcoat is catastrophic. Breakdown of thin films can be detected with AFM. Evolution of the wear has also been studied using AFM. Wear is found to be initiated at nono scratches. AFM has been modified to obtain load-displacement curves and for nanoindentation hardness measurements with depth of indentation as low as 1 mm. Scratching and indentation on nanoscales are the powerful ways to screen for adhesion and resistance to deformation of ultrathin fdms. Detection of material transfer on a nanoscale is possible with AFM. Boundary lubrication studies and measurement of lubricant-film thichness with a lateral resolution on a nanoscale have been conducted using AFM. Self-assembled monolyers and chemically-bonded lubricant films with a mobile fraction are superior in wear resistance. Finally, AFM has also shown to be useful for nanofabrication/nanomachining. Friction and wear on micro-and nanoscales have been found to be generally smaller compared to that at macroscales. Therefore, micro/nanotribological studies may help def'me the regimes for ultra-low friction and near zero wear.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.30A no.3
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• pp.130-138
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• 1993

A mechanism for collision detection in general animation system is necessary to prevent the interpenetration among multiple objects. On the other hand, a dynamic simulation system which is a part of animation system simulates realistic motions using dynamics after the collision, which is called collision response. In this paper, a method for reducing the CPU time for collision detection by removing redundant calculations and object sorting is proposed. A dynamic simulation system including collision detection and response function was implemented to demonstrate the proposed methods, where the input data as elasticity, friction, gravity, object shape, external force and external torque are given by the user. The system simulates motions of multiple objects using dynamics, and generates the wireframe display.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.6
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• pp.545-550
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• 2013

We present a tactile information transceiver using a friction-tunable slider-pad. While previous tactile information devices were focused on either input or output functions, the present device offers lateral position/vertical direction detection and texture expression. In characterizing the tactile input performance, we measured the capacitance change due to the displacement of the slider-pad. The measured difference for a z-axis click was 0.146 nF/$40{\mu}m$ when the x-y axis navigation showed 0.09 nF/$750{\mu}m$ difference. In characterizing the texture expression, we measured the lateral force due to a normal load. We applied a voltage between parallel electrodes to induce electrostatic attraction in DC and AC voltages. We measured the friction under identical fingertip action conditions, and obtained friction in the range of 32-152 mN and lateral vibration in the force range of 128.1 mN at 60 V, 2 Hz. The proposed device can be applied to integrated tactile interface devices for mobile appliances.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.12
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• pp.1874-1881
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• 2021

Black ice, which occurs mainly on the road, vehicle traffic bridges and tunnel entrances due to the sub-zero temperature due to the slip of the road due to heavy snow, is not recognized because the image of asphalt is transmitted in the driver's view, so the vehicle loses braking power because it causes serious loss of life and property. In this paper, we propose a method to identify the black ice by using infrared camera and to identify the road condition by using deep learning to compensate for the disadvantages of existing black ice detection methods (artificial satellite imaging, checking the pattern of slip by ultrasonic reception, measuring the temperature of the road surface, and checking the difference in friction force of the tire during vehicle driving) and to reduce the size of the sensor to detect black ice.

• Journal of the Korean Magnetics Society
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• v.24 no.6
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• pp.171-178
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• 2014

Remote Field Eddy Current Testing (RFECT), one of the ways which is a nondestructive testing using electromagnetic fields, can make up for Magnetic Flux Leakage (MFL) weaknesses and general Eddy Current Testing (ECT) weaknesses which is an occurrence of a huge friction force or disadvantage of detecting defects on the outer wall. So many of institutes and laboratories have studied on RFECT for the past 50 years. But There is a lack of discussion about a study on eddy current and magnetic field distributions in a pipe wall and designing of RFECT exciter coil. In this paper, eddy current and magnetic field distributions in a pipe wall and influence of altering variables are analyzed. Also, the optimal design algorithm about the RFECT Exciter coil are proposed, and influence on defect signals caused by alteration of its shape is analyzed.