• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.

• Journal of the Korean Wood Science and Technology
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• v.35 no.3
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• pp.10-21
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• 2007

It is necessary to study about moment performance of glulam-dowel connections which had been applied rotation. To analyze and predict the moment performance, angled to grain load was replaced with parallel to grain load and perpendicular to grain load. The dowel bending strength and dowel bearing strength were tested. And tensile strength test for connections of two different end distances was performed. Specimens of rotation test were composed with different drift pin numbers and drift pin arrangement. Connection deformation was occurred by plastic behavior of drift pin after yield when tensile load applied at connection. And the absorbing drift pin deflection by end distance continued the connection deformation. When rotation applied at connection that 2 drift pins were arranged parallel to grain (b2h), it showed similar performance with tensile perpendicular to grain. And connection that 2 drift pins were arranged perpendicular to grain (b2v) showed similar performance with tensile parallel to grain. Connection capacity that 4 drift pins were arranged rectangular (b4) showed 1.7 times as strong as connection that 2 drift pins were arranged parallel to grain (b2h). These results agreed predicted values and it is available that rotation replaced with tensile load.

• Journal of The Korean Society of Agricultural Engineers
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• v.56 no.1
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• pp.21-30
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• 2014

The objective of this study is to find the electrical properties of Bottom ash from thermoelectric power plants in Korea. By using Parallel Plate Method, the electrical resistivity and dielectric constant were measured at the frequency from 20 Hz to 10 MHz. Also, unconfined strength test, XRF and sieve analysis were performed for finding the relationship between strength, physiochemical properties and electrical properties. In the result, the change of electrical resistivity and dielectric constant of bottom ash against frequency was similar to that of general soil. The proportion of fine grain in bottom ash had the positive correlation with dielectric constant and negative correlation with electrical resistivity. Chloride and sulfur trioxide were proportional to dielectric constant and the more bottom ash had chloride content, the lower electrical resistivity appeared in bottom ash. Unconfined strength of bottom ashes had a range from 200 kPa to 780 kPa and strength was inverse proportional to electrical resistivity.

• Progress in Superconductivity and Cryogenics
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• v.6 no.4
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• pp.37-40
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• 2004

A 1 MV A single phase high temperature superconducting (HTS) transformer was manufactured and tested. The rated voltages of primary and secondary of the HTS transformer are 22.9 kV and 6.6 kV respectively. BSCCO-2223 HTS tape was used for HTS windings of 1 MV A HTS transformer. In order to reduce AC loss generated in the HTS winding, the type of concentric arrangement winding was adopted to a 1 MV A HTS transformer. Single HTS tape for primary windings and 4 parallel HTS tapes for secondary windings were used considering the each rated current of the HTS transformer. A core of HTS transformer was fabricated as a shell type core made of laminated silicon steel plate. And a GFRP cryostat with a room temperature bore was also manufactured. The characteristic tests of 1 MV A HTS transformer were performed such as no load test, short circuit test and several insulation tests at 65 K using sub-cooled liquid nitrogen. From the results of tests, the validity of design of HTS transformer was ascertained.

• Nuclear Engineering and Technology
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• v.42 no.1
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• pp.9-16
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• 2010

Experimental examinations for evaluating fracutres were conducted by using transparent replicas of a single fracture in order to obtain the fracture data to contribute to the methodlogy on how to improve the definitaion of representative parameter values used for a parallel plate fracture model. Quantitative aperture distribution and quantitative tracer concentration data at each point in time were obtained by measuring the attenuation of transmitted light through the fracture in high spatial resolution. the representative aperture values evaluated from the multiple different measurement methods, such as arithmetic mean of aperture distribution measured by the optical method, transport aperture evaluated from the tracer test, and average aperture evaluated from the fracture void volume measurement converged to a unique value that indicates the accuracy of this experimental study. The aperture data was employed for verifying the numerical simulation under the assuption of Local Cubic Law and showed that the calculated flow rate through the fracture is 10%-100% larger than hydraulic test results. The quantitative tracer concentration data is also very valuable for validating existing numerical code for advection dispersion transport in-plane heterogeneous fractures.

• Journal of the Korean Wood Science and Technology
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• v.43 no.6
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• pp.868-875
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• 2015

In order to replace existing slit type steel plate on the wooden structure joint, the FRP-reinforced laminated plates were produced. Four types of FRP-reinforced laminated plates were produced according to the type of reinforcement and adhesive, and before applying to the joint, the adhesion performance test according to KSF 3021 and KSF 2160 and the Compact Tension (CT) type fracture toughness test specified in ASTM D5045-99 were carried out. As a result of adhesion performance test, all GFRP textile, GFRP sheet, and GFRP Textile-Sheet type FRP-reinforced laminated plates satisfied the requirement of soaking delamination percentage with smaller than 5% based on KS standard. However, aramid type specimen satisfied the standard as the soaking delamination percentage of 4.8% but it did not satisfied the standard as the water proof soaking delamination percentage of 70%. As a result of fracture toughness test, the volume ratio of reinforcement to timber became 23% so that the strength of FRP-reinforced laminated plates increased by two to four times in comparison to the control specimen. It was confirmed that the GFRP Textile-Sheet type specimen was most resistant to the fracture most since the ratio of stress intensity factor compared with that of the control increased to 61% owing to the parallel arrangement of glass fiber to the load. As a result of tensile shear strength test using FRP-reinforced laminated plates and nonmetal dowels, it is about 12% lower than metal connectors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Journal of Korean Society of Steel Construction
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• v.17 no.6 s.79
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• pp.681-688
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• 2005

This study investigates an existing steel plate girder railroad bridge after superstructure rehabilitation to monitor static and dynamic responses using Fiber Bragg Grating (FBG) sensors. This paper also presents an experimental technique to estimate the vertical deflection of the bridge using FBG sensors. Seven FBG sensors are multiplexed in a single optical fiber and installed in parallel pairs along the length of the bridge, with one set at the top flange and the other at the bottom flange. In addition to FBG sensors, a conventional electric strain gauge and anLVDT are installed at the mid-span of the bridge for comparison. A test train consisting of one locomotive is placed at the center of the bridge to produce the maximum static effect. The train is also made to pass over the bridge at different speeds ranging from 10 km/h to 90 km/h to monitor the dynamic response of the bridge. This study demonstrates that the measured strains using the FBG sensor compared well with the readings from the electric strain gauge. The results show that the proposed instrumentation technique is capable of estimating the vertical deflection of the bridge for various loading conditions, which is crucial in structural health monitoring. Several dynamic characteristics of the bridge were also identified.

• Journal of Sensor Science and Technology
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• v.26 no.2
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• pp.114-121
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• 2017

This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can't measure the weight of the patient's leg and the robot's leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient's calf force in the walking assist robot.