• 한국정밀공학회지
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• 제20권7호
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• 한국전기전자재료학회논문지
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• 제21권1호
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• pp.53-56
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• 2008

The commercial parallel plate electrodes system with guard-ring electrode have been widely used for measurement of dielectric constants of solid materials. And the specification of the electrodes system is about 1 % of measurement uncertainty. This measurement uncertainty is only estimated the error come from mechanical measurements such as the area of the electrodes and the gap between the electrodes except the error come from the air gap between the electrodes and dielectric specimen. Because it is impossible to measure the air gap. This study analyze the total measurement uncertainties of the commercial dielectric constant test cell using 3 kinds of Standard Reference Materials. As a results, the total measurement uncertainty is much bigger than 1 % and the most of the uncertainty can be reduced by compensation of the error values evaluated in this study.

• 한국수자원학회논문집
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• 제34권5호
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• pp.439-448
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• 2001

본 연구에서는 단일절리에서 2상유체 동시거동을 해석하기 위해서 2차원 유한차분 수치모형을 개발하였다. 개발된 모형은 압력에 따른 점성의 변화가 포화도에 따른 상대투과계수의 변화를 절리간극의 크기별로 고려할 수 있다. 수치기법으로는 IMPES해법을 적용하여 물과 가스의 압력변화량과 포화도를 차례로 구하였다. 개발된 수치 모형에 이용할 상대투과계수의 특성식 도출을 위해서 일곱가지 경우의 평판모형실험을 실시하였다. 실험으로부터 도출된 상대투과계수 특성곡선은 기존의 경험식으로는 표현되기 어려웠으며, 따라서 새로운 경험식으로 로지스틱 방정식을 제시하였다. 이 방정식은 간극의 크기가 포함된 매개변수를 사용하였기 때문에 임의의 절리 간극크기의 적용이 가능한 형태이다.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.66-70
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• 2001

This paper describes the design of a two-axis force sensor for robots finger. In detects the x-direction force Fx and y-direction force Fy simultaneously. In order to safely grasp an unknown object using the robots fingers, they should detect the force or gripping direction and the force of gravity direction, and perform the force control using the forces detected. Therefore, the robots hand should be made by the robots finger with tow-axis force sensor that can detect the x-direction force and y-direction force si-multaneously. Thus, in this paper, the two-axis force sensor for robots finger is designed using several parallel-plate beams. The equations to calculate the strain of the beams according to the force in order to design the sensing element of the force sensor are derived and these equations are used to design the aize of two-axis force sensor sensing element. The reliability of the derive equa-tions is verified buy performing a finite element analysis of the sensing element. The strain obtained through this process is compared to that obtained through the theory analysis and a characteristics test of the fabricated sensor. It reveals that the rated strains calculated from the derive equations make a good agreement with the results from the Finite Element Method analysis and from the character-istic test.

• Steel and Composite Structures
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• 제48권5호
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• pp.547-564
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• 2023

This study investigates the effect of bolt preloading on the rotational stiffness of stainless steel end-plate connections. An experimental programme incorporating 11 full-scale joint specimens are carried out comparing the behaviours of fully pre-tensioned (PT) and snug-tightened (ST) flush/extended end-plate connections, made of austenitic or lean duplex stainless steels. It is observed from the tests that the presence of bolt preloading leads to a significant increase in the rotational stiffness. A parallel finite element analysis (FEA) validated against the test results demonstrates that the geometric imperfection of end-plate has a strong influence on the moment-rotation response of preloaded end-plate connections, which is crucial to explain the observed "two-stage" behaviour of these connections. Based on the data obtained from the tests and FE parametric study, the performance of the Eurocode 3 predictive model is evaluated, which exhibits a significant deviation in predicting the rotational stiffness of stainless steel end-plate connections. A modified bi-linear model, which incorporates three key properties, is therefore proposed to enable a better prediction. Finally, the effect of bolt preloading is demonstrated at the system (structure) level considering the serviceability of semi-continuous stainless steel beams with end-plate connections.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.3-8
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• 2007

A machining system that generates accurate relative motions between the tool and workpiece is required to realize ultra precise machining or measurements. Accuracy improvements for each element of the machine are also required. This paper proposes a machining system that uses a compensation device for the six-degree-of-freedom (6-DOF) motion error between the tool and workpiece. The compensation device eliminates elastic and thermal errors of the joints and links due to temperature fluctuations and external forces. A hexapod parallel kinematics mechanism installed between the tool spindle and surface plate is passively actuated by a conventional machine. Then the parallel mechanism measures the 6-DOF motions. We describe the conception and fundamentals of the system and test a passively extensible strut with a compensation device for the joint errors.

• Journal of Mechanical Science and Technology
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• 제17권6호
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• pp.879-887
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• 2003

The flow in a parallel walled test channel, when obstructed with a geometry at the entrance, can be forward, reverse and stagnant depending on the position of the obstruction. This interesting flow phenomenon has potential benefit in the control of energy and various flows in the process industry In this experiment, the flat plate obstruction geometry was used as an obstruction at the entry of the test channel. The parameters that influence the flow inside and around the test channel were the gap (g) between the test channel and the obstruction geometry, the length (L) of the test channel and the Reynolds number (Re). The effect of the gap to channel width ratio (g/w) on the magnitude of the velocity ratio (V$\_$i/ / V$\_$o/ : velocity inside/ velocity outside the test channel) was investigated for a range of Reynolds numbers. The maximum reverse flow observed was nearly 20% to 60% of the outside velocity for Reynolds number ranging from 1000 to 9000 at g/w ratio of 1.5. The maximum forward velocity inside the test channel was found 80% of the outside velocity at higher g/w ratio of 8. The effect of the test channel length on the velocity ratio was investigated for different g/w ratios and a fixed Reynolds number of 4000. The influence of the Reynolds number on the velocity ratio is also discussed and presented for different gap to width ratio (g/w). The flow visualisation photographs showing fluid motion inside and around the test channel are also presented and discussed.

• Journal of Mechanical Science and Technology
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• 제16권5호
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• pp.710-719
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• 2002

This study investigates a nonlinear inverse convection problem for a laminar-forced convective flow between two parallel plates. The upper plate is exposed to unknown heat flux while the lower plate is insulated. The unknown heat flux is determined using temperature measured on the lower plate. The thermophysical properties of the fluid are temperature dependent, which renders the problem nonlinear. The sequential gradient method is applied to this nonlinear inverse problem in order to solve the problem efficiently. The function specification method is incorporated to stabilize the sequential estimation. The corresponding adjoint formalism is provided. Accuracy and stability have been examined for the proposed method with test cases. The tendency of deterministic error is investigated for several parameters. Stable solutions are achieved eve]1 with severely impaired measurement data.

• Steel and Composite Structures
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• 제19권5호
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• pp.1145-1165
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• 2015

A behavior model for screw connections is developed to provide a better representation of the nonlinear response of thin steel plate shear walls (TSPSWs) with infill plates attached to the boundary frame members via self-drilling screws. This analytical representation is based on the load-bearing deformation relationship between the infill plate and the screw threads. The model can be easily implemented in strip models of TSPSWs where the tension field action of the infill plates is represented by a series of parallel discrete tension-only strips. Previously reported experimental results from tests of two different TSPSWs are used to provide experimental validation of the modeling approach. The beam-to-column connection behavior was also included in the analyses using a four parameter rotational spring model that was calibrated to a test of an identical frame as used for the TSPSW specimens but without the infill plates. The complete TSPSW models consisting of strips representing the infill plates, zero length elements representing the load-bearing deformation response of the screw connection at each end of the strips and the four parameter spring model at each beam-to-column connection are shown to have good agreement with the experimental results. The resulting models should enable design and analysis of TSPSWs for both new construction and retrofit of existing buildings.

• IEIE Transactions on Smart Processing and Computing
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• 제4권5호
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• pp.297-304
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• 2015

A multilayer gaseous detector has been developed for fast dose-verification measurements of raster-scan-mode therapeutic beams in particle therapy. The detector, which was constructed with eight thin parallel-plate ionization chambers (PPICs) and polymethyl methacrylate (PMMA) absorber plates, is closely tissue-equivalent in a beam's eye view. The gas-electron signals, collected on the strips and pad arrays of each PPIC, were amplified and processed with a continuous charge.integration mode. The detector was tested with 190-MeV raster-scan-mode beams that were provided by the Proton Therapy Facility at Samsung Medical Center, Seoul, South Korea. The detector responses of the PPICs for a 190-MeV raster-scan-mode proton beam agreed well with the dose data, measured using a 2D ionization chamber array (Octavius model, PTW). Furthermore, in this study it was confirmed that the detector simultaneously tracked the doses induced at the PPICs by the fast-oscillating beam, with a scanning speed of 2 m s-1. Thus, it is anticipated that the present detector, composed of thin PPICs and operating in charge.integration mode, will allow medical scientists to perform reliable fast dose-verification measurements for typical dynamic mode therapeutic beams.