• 제어로봇시스템학회논문지
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• 제11권7호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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.

• 한국농공학회지
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• 제35권4호
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• pp.47-54
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• 1993

A series of laboratory tests was performed with soil-columns which were compacted with sands and different amount of silt collected from the mid-stream of Gumgang, Korea. A known degree of concentration of PCP(Pentachlorophenol) was poured into the soil-columns and concentration of PCP was monitored and analyzed with time and depth. The results of the study are summarized as follows : 1. PCP was transported into soil along with the movement of moisture under gravitational force. The amount of PCP transported through soil or absorbed by soil varied with soil types. 2. The great amount of PCP was remained at 4~8cm section for the specimen No.2 and at 0~4cm section for the specimen Nos. 3 and 4. Based upon this result it is said that the amount of silt between 30 and 40% may be a threshold value for PCP transported through soil. 3. The amount of PCP remained in the specimen Nos. 2, 3 and 4 is greater than that in the specimen No.1 due to high specific surface of silt and high attraction force between PCP and silt particles in the specimen Nos. 2, 3 and 4. 4. It is said that groundwater under highly permeable soil layer such as specimen No.1 is easily polluted by PCP. That is because the PCP is basically migrated with water under the gravitational force.

• 한국소음진동공학회논문집
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• 제22권12호
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• pp.1164-1171
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• 2012

Recently, researches related to the green energy generation systems have increased significantly. Among them wind turbines are the most spread practical green energy generation systems. In order to enhance the power generation capacity of the wind turbine blade, the length of wind turbine blade has increased. It might cause undesirable excessive dynamic loads. Therefore dynamic characteristics of a wind turbine blade system should be identified for a safe design of the system. In this study, the equations of motion of a wind turbine blade system undergoing gravitational force are derived considering wind force and pitch angle. Effects of wind speed, variation of pitch angle of the wind turbine blade, rotating speed, and the blade length on its stability characteristics are investigated.

• 반도체디스플레이기술학회지
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• 제9권4호
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• pp.87-91
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• 2010

Charged micro-particles are widely used as the key components for many electrical applications such as an e-paper, a touch panel, a printer toner and an electronic ink. Among them, the e-paper is an emerging reflective type display using the charged particles that has the advantages of the extremely low power consumption and sunlight readability. To create images on the e-paper, we confine black positively-charged and white negatively-charged particles between bottom and top electrodes and selectively apply the electric field. When the Coulomb force by an applied electric field is greater than the adhesion force between the charged particle and the electrode, the particles' transition happens resulting in the change of color between black and white. Therefore, the adhesion force is a very important factor for designing and estimating e-paper's operation. In this study, we constructed a basic model for particle's transition and an adhesion force equation describing particle's transition with three different forces: electrostatic image force, Van der Waals force and gravitational force. The simulation results showed that the gravitational force is negligible for the interesting range for the charge and the radius, and the adhesion force can be strongly dependent on the particle's charge and radius.

• 한국기계가공학회지
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• 제13권1호
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• pp.107-114
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• 2014

A friction hinge system which moves without power was designed and developed using the principle of friction force, which is caused by interference between the inner diameter of a silicon cap and the outer diameter of a cylindrical roller bearing with one-way rotation in a counterclockwise direction. The system was applied to the lid of buffet ware, which moved up by external force and moved down by gravitational force. However, design conditions which included a rotation angle of the hinge of more than 80 degrees and a closing time of more than 20 seconds were required when the lid of the buffet ware closed due to gravitational force. The design safety of the friction hinge body connected to the lid of the buffet ware from the hinge system was checked on the basis of structural, fatigue and thermal analyses. The material of the shaft, cap and flange among the hinge elements was changed to polyethylene from steel to reduce the weight of the friction hinge system. An injection molding simulation was performed and injection molds of the shaft, cap and flange were created. The weight of the hinge system was decreased from 805g to 219g.

• 로봇학회논문지
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• 제14권2호
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• pp.94-103
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• 2019

The optimal grasping point of the object varies depending on the shape of the object, such as the weight, the material, the grasping contact with the robot hand, and the grasping force. In order to derive the optimal grasping points for each object by a three fingered robot hand, optimal point and posture have been derived based on the geometry of the object and the hand using the artificial neural network. The optimal grasping cost function has been derived by constructing the cost function based on the probability density function of the normal distribution. Considering the characteristics of the object and the robot hand, the optimum height and width have been set to grasp the object by the robot hand. The resultant force between the contact area of the robot finger and the object has been estimated from the grasping force of the robot finger and the gravitational force of the object. In addition to these, the geometrical and gravitational center points of the object have been considered in obtaining the optimum grasping position of the robot finger and the object using the artificial neural network. To show the effectiveness of the proposed algorithm, the friction cone for the stable grasping operation has been modeled through the grasping experiments.

• 한국과학교육학회지
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• 제26권5호
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• pp.611-619
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• 2006

The aims of this study are to investigate science high school students' understanding of velocity and acceleration of a simple pendulum bob, and to investigate their understanding of inertia and gravitational force in the motion of a pendulum bob when the tension is removed. For the study, 46 students that had already studied the physical, concepts in simple pendulum were sampled from a science high school in a large city in Korea. For a comparison with general high school students' conceptions, 49 students were sampled from a general high school in the same city. The test tool for the investigation consisted of four drawing and simple-answering type questions developed by the authors. The outcomes of the study revealed that a substantial number of science high school students have misconceptions concerning acceleration in pendulum motion, and that many of them do not understand the relationship between force and acceleration. In addition, the results of the study showed that more than 30% of the students drew the path of a bob going along the tangential direction at the highest point of the motion, and approximately 20% of them drew the path of a bob falling straight down at the lowest point of the motion.

• 천문학회보
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• 제36권2호
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• pp.74.2-74.2
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• 2011

We probe the tidal perturbation parameter f of Virgo cluster galaxies. The goal is to measure the strength of tidal fields around individual galaxies to get better understanding gravitational processes that can affect galaxy evolution in the cluster environment. The f-value is defined as a logarithmic ratio between the net internal gravitational force within a galaxy and the external tidal force exerted by a neighboring galaxy. Hence, it provides one way to quantify the tidal field strength of galaxies, in particular, due to galaxy neighbors. In this study, we determine f-values of the VIVA galaxies, samples of the VLA Imaging study of Virgo galaxies in Atomic gas, using the Extended Virgo Cluster Catalog (EVCC) which is the most complete Virgo cluster catalog to date. With diagnostics based on the HI gas and R-band morphologies, we discuss the impact of the tidal fields on the evolution of the VIVA sample. Also, we compare the tidal field strength to the intra cluster medium (ICM) pressure for each sample galaxy to pin down environmental processes at work.

• 한국수학사학회지
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• 제21권3호
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• pp.1-30
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• 2008

뉴턴의 중력이론의 성공은 수학물리학을 태동시키는 바, 최초로 19세기 초의 분자력의 모델성립에 중요한 요소로 등장하였다. 라플라스는 여기서 회전타원체의 작용이라는 모델을 이용하였고 회전타원체의 작용은 이계편미분방정식으로 표현이 되었다. 이것을 풀어서 유체를 담은 용기의 기하학적 모습과 와 유체와 고체의 접촉각에 대응시켰다. 알 수 없는 분자간거리는 추상적이고 미지의 힘 함수 $\varphi(f)$를 써서 표현하여, 분자 작용반경이라는 개념을 도입하여 이론적인 포텐셜 함수의 이론적인 토대를 구축하였다. 뉴턴의 중력이론은 라플라스이론에서 완성을 이루었고, 이후 분자력의 모델로서 작용을 하였다. 라플라스-영의 모세관이론은 수학적으로는 극소 곡면론에서 물리학적으로는 표면장력현상으로 설명이 된다.