• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• Journal of the Korea institute for structural maintenance and inspection
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• v.3 no.3
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• pp.213-222
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• 1999

On condition that opening located at high shear strength position in H-shaped steel beams with web opening, beams are structurally to be frailed so necessity and efficiency of vertical reinforcement to add horizontal reinforcement already published ahead study. Up to the present study of web opening beams, limited one opening which located in comparatively small shear strength position. But frequently opening area is enlargement by necessity, so width of opening is larger by limit of depth or increasing number of opening. This study carry out experiment to make efficient reinforcing method about strength and deformation of steel beams with web openings. Parameters of this study are openings location, ratio of opening width within opening height and various reinforcing types.

• Journal of Biosystems Engineering
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• v.16 no.1
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• pp.1-8
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• 1991

This study was carried out to evaluate indirect methods of engine torque measurement. Three indirect methods based on throttle valve opening, exhaust gas temperature and inlet air pressure were compared. The indirect method based on throttle valve opening appeared to be the most satisfactory in terms of accuracy and response time. The discrepancies between the direct method and the indirect method based on throttle valve opening in measuring engine torque were 2% on t he average.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.28-35
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• 1999

In this study, investigation of transient knock characteristics in a spark-ignition engine has been carried out. The universal knock threshold values were found by a DFDD method and a NSDBP method which is a non-dimensional version of the SDBP method. Also modified NSDBP method could be used for transient knock detection. In a commercial ECU , spark timing was retarded from the steady -state spark timing during rapid throttle opening to avoid uncomfortable feeling and knock. Knock usually occurred just after the start of rapid throttle opening when spark timing was set, as values for the steady state condition. We found that air/fuel ratio deeply involved with the knock during transient condition. Due to the difference of initial heat release rate, knock occurred more easily at rich air/fuel ratio than at lean air/fuel ratio.

• Design & Manufacturing
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• v.15 no.3
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• pp.56-61
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• 2021

The increase in automation facilities in the injection molding industry is a very important process control item. The most important item when constructing an unmanned machine using a take-out robot is the "mold opening stroke" of the mold. The injection molding machine control method is divided into hydraulic type and electric type, and there have been few studies on the mold opening distance according to the control method. In this study, the correlation was confirmed by increasing the injection speed to 20, 50, 80, and 100% for the three types of hydraulic control method, open loop and close loop, and electric control method. Through the experiment, the following results were obtained. (1) It can be seen that the reproducibility is excellent with the electric, close loop, and open loop control methods. (2) When the injection speed is set to 50%, the mold opening distance is 263.10~263.27 mm, which is the most reproducible. (3) As a result of ANOVA, both injection speed and mold opening distance showed a significant difference in the hydraulic control method (p<0.05), but it was verified through experiments that there was no significant difference in the electric control method. Based on these results, when electric control is selected rather than hydraulic control, the reproducibility of the mold opening distance is excellent, so it is thought that the taking-out robot can take the object out of the mold more safely.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.4
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• pp.372-380
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• 1997

This paper describes experimental investigations of helium-air exchange flows through parti¬tioned opening and two-opening. Such exchange flows may occur following rupture accident of stand pipe in high temperature gas cooled reactor. A test vessel with the two types of small open¬ing on top of test cylinder is used for experiments. An estimation method of mass increment is developed and applied to measure the exchange flow rate. A technique of flow visualization by Mach-Zehnder interferometer is provided to recognize the exchange flows. In the case of exchange flow through the partitioned opening, flow passages of upward flow of the helium and downward flow of the air within the opening are separated by vertical partition, and the two flows interact out of entrance and exit of the opening. Therefore, an experiment of the exchange flow through two-opening is made to investigate effect of the fluids interaction of the partitioned opening sys¬tem. As a result of comparison of the exchange flow rates between the two types of the opening system, it is found that the exchange flow rate of the two-opening system is larger than that of the partitioned opening system due to absence of the effect of fluids interaction. Finally, the fluids interaction between the upward and downward flows through the partitioned opening is found to be an important factor on the helium-air exchange flow.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.729-732
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• 2003

The K-R design curve is an engineering method of linear-elastic fracture analysis under plane-stress loading conditions. By the way, linear-elastic fracture mechanics (LEFM) is valid only as long as nonlinear material deformation is confined to a small region surrounding the crack tip. Like general steels, it is virtually impossible to characterize the fracture behavior with LEFM, in many materials. Critical values of J contour integral or crack tip opening displacement (CTOD) give nearly size independent measures of fracture toughness, even for relatively large amounts of crack tip plasticity. Furthermore, the crack tip opening displacement is the only parameter that can be directly measured in the fracture test. On the other. the crack tip opening angle (CTOA) test is similar to CTOD experimentally. Moreover, the test is easier to measure the fracture toughness than other method. The shape of the CTOA curve depends on material fracture behavior and, on the opening configuration of the cracked structure. CTOA parameter describes crack tip conditions in elastic-plastic materials, and it can be used as a fracture criterion effectively. In this paper, CTOA test is performed for steel JS-SS400 hot-rolled thin plates under plane-stress loading conditions. Special experimental apparatuses are used to prevent specimens from buckling and to measure crack tip opening angle for thin compact tension (CT) specimens.

• Proceedings of the Korea Concrete Institute Conference
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• 2001.11a
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• pp.701-706
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• 2001

This study is aimed to investigate on the structural properties(like as strength, failure mode, ductility) of beams with multiple openings reinforced with steel tube of circular. The main parameters are follows ;1)location of openings, 2)the number of opening, 3) existence of opening or not. When the locations of opening are respectively maximal moment zone, maximal shear zone, co-existence zone of moment and shear, the specimen with opening at maximal moment zone is not less than that without opening in terms of strength and ductility. The specimens with opening at shear zone and both zones are expected to carry the structural performance corresponding to beam without opening by varying the number and reinforcing method of opening.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.136-144
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• 1997

The characteristics of fatigue crack growth subject to out-of-plane bending fatigue are studied in terms of crack opening behavior by using pre-cracked smooth specimens. Crack opening stress is measured by an elastic compliance method which may precisely and continuously provide many date using strain gages during experiment. The results of the short crack and the long crack arranged by crack closure concept show that the effective stress gange ratio of short crack is grester than that of long crack, and ano- malous growth behavior of short crack may be elucidated by the variation of crack opening stress. When the variation of fatigue crack growth rate is arranged versus effective stress intensity factor range. Iinear relation is held also for the short crack. It shows that growth behavior of short crack can be quantitatively represent- ed by the fracture mechanics parameter using effective stress intensity factor range.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.3
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• pp.79-87
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• 2000

This paper describes experimental investigations of helium-air exchange flow through openings with vertical partitions. Such exchange flows may occur following rupture accident of stand pipe in high temperature gas cooled reactor. Exchange flow rates are investigated experimentally by using partitioned opening and opening with extended partition to assess fluids interference of the exchange flow at the stand pipe rupture accident. A tests vessel with the two types of opening on top of test cylinder is used in the experiments. An estimation method of mass increment is developed and applied to measure the exchange flow rate. A technique of flow visualization by Mach-Zehnder interferometer is provided to recognize the exchange flows. Amplitude and progress of interference fringes of the flows are observed and used as a support in comparison with the exchange flow rates. Flow passages of upward flow of the helium and downward flow of the air for both two types of the opening are separated by inserted partition within the opening, but in the case of partitioned opening, unseparated flow is formed at the opening entrance and the two flows interface. The exchange flow rate for the partitioned opening is not greater than that of the opening with extended partition because of the fluids interference at the entrance of opening. Finally, the fluids interference at the opening entrance is found to be one of important factors on the helium-air exchange flow rate.