• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• PNF and Movement
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• 제11권2호
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• pp.95-102
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• 2013

Purpose : The purpose of this study was to investigate a plantar pressure distribution and the trajectory of the center of pressure on double limb support and single limb support according to level surface, air cushion, and aero step. Methods : 21 healthy adults participated in this study. The plantar pressure were assessed at three different surface conditions(on the level surface, air cushion, and aero step) on double limb support and single limb support. Testing orders were selected randomly. Results : Plantar pressure distribution show a significant difference contact area 1 and contact area 3 on double limb support and single limb support. The trajectory of the center of pressure show an significant difference anteroposterior(AP), mediolateral(ML), and total displacement on double limb support and single limb support. Conclusion : Through the use of soft surface as air cushion and aero step will be using the ankle strategy. This will be to strengthen the muscles around the ankle. Consequently, should help to improve stability and coordination.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2006년도 춘계 학술발표회 논문집
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• pp.530-535
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• 2006

The Pusan clays are soft and thick deposits and in some places, they reach even up to 50-70m. So, the pile foundations are inevitable in almost all cases. But they are significantly expansive when the length of the pile reaches about 70m. In this study, a comprehensive parametric study has been carried out in order to reduce the pile length and number of piles required in turn the cost of the foundation for particular building. A belled shaft pile has been optimized for a typical soil profile using the PLAXIS (FEM code). These results have shown a new direction of the pile foundation in Pusan, Korea. The results including the variation of contact pressures at the bottom of the bell, optimization of the angle of the bell and height of the bell in terms of the diameter of the shaft. And also, the design curves have been generated so that they can be directly used for design of belled shaft foundations. However, the structural strength criterion is being checked in the concerned laboratory.

• 대한의용생체공학회:의공학회지
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• 제37권5호
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• pp.178-185
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• 2016

Tear is a promising biological fluid for non-invasive health monitoring. It has been studied in the past to be a possible candidate for the diagnosis of certain systemic diseases, such as breast cancer, multiple sclerosis, prostate cancer, and diabetes. However, currently existing methods for collecting and extracting tear from the human eye causes inconsistencies in the biomolecule concentrations of the tear sample due to the irritating nature of the process. In response, we designed and fabricated a microfluidic system embedded soft contact-lens for the purpose of tear sampling. The lens was then tested with artificial tear for its tear sampling capability, and found to be able to find concentration equilibrium within 50 minutes. Additionally, simulation was carried out to further optimize the design so that tear sampling rate matched the natural tear turn-over rate of 1 microliter per minute.

• Elastomers and Composites
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• 제31권2호
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• pp.104-110
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• 1996

The polyurethane was synthesized by the reaction of polycaprolactone diol(Mw 2000), 4,4'-diphenylmethane diisocyanate and 1,4-butanediol as the chain extender. Also, the modified polyurethane polymers based on liquid polybutadiene as a part of soft segment and dimethylolpropionic acid as a chain extender, giving polyurethane with various polarity, were synthesized. The thermal, mechanical, adhesion properties and water contact angles of the polyurethanes were examined. From the result of the water contact angle, the polarity of the acid modified PU containing 6% acid content was unchanged but mechanical and adhesion properties were improved. The water contact angles on polybutadiene modified PU films were increased with increasing polybutadiene content. The mechanical properties of the polybutadiene modified PU were higher than that of acid modified PU. However, the mechanical properties were reduced as polybutadiene content increased. The result is presumably due to phase separation between hard segment and soft segment. The peel strength of the polyurethane introduced with 5wt% polybutadiene was improved about 150% than that of unmodified PU. The same as the mechanical properties, the more polybutadiene was introduced, the lower peel strength was obtained.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.457-463
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• 2006

Recently proposed control scheme for a stable teleoperation, which was based on two-port time-domain passivity approach[21], has been successful for a contact with high stiffness environments. However, we found several conservatisms during the contact with deformable environments and unconstrained motion. The two-port time-domain passivity controller was excessively dissipating energy even though it was not necessary for some cases of an unconstrained motion and soft contact. The main reason of those conservatisms was on the fact that the two-port time-domain passivity controller was activated without considering the amount of energy dissipation at the master and slave manipulators. Especially, the exclusion of the slave manipulator from the two-port was the dominant reason of the conservatisms. In this paper, we consider the amount of energy dissipation at slave manipulator for designing the time-domain passivity observer and controller. The measured interaction force between slave manipulator and environment allow the time-domain passivity observer to include the amount of energy dissipation at the slave manipulator. Based on the modified passivity observer, reference energy following method[24] is applied to satisfy the passivity condition in real-time. The feasibility of the developed methods is proved with experiments. Improved performance is obtained for an interaction with deformable environments and an unconstrained motion.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.1391-1395
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• 2006

In non-contact mode atomic force microscopy, the response of a resonating tip is used to measure the nanoscale topography and other properties of a sample surface. However, the tip-surface interactions can affect the tip response and destabilize the non-contact mode control. Especially it is difficult to obtain a good scanned image of high adhesion surfaces such as polymers using conventional hard NCHR tip and non-contact mode control. In this study, experimental investigation is made on the non-contact mode imaging and we report the microcantilever having low stiffness (OMCL) is useful to measure the properties of samples such as elasticity. In addition, we proved that it was adequate to use low stiffness microcantilever to obtain a good scanned image in AFM for the soft and high adhesion sample.

• 한국안광학회지
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• 제17권2호
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• pp.135-141
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• 2012

목적: 전자빔(electron beam)을 이용한 HEMA(2-hydroxyethyl methacrylate)의 중합과정에 대한 최적의 전자빔조사(irradiation) 조건을 살펴보고, 전자빔과 일반적인 열중합 방법에 의해 제조된 콘택트렌즈의 물리적 특성을 각각 비교함으로써 콘택트렌즈 제조에 전자빔조사 방법의 활용가능성을 알아보고자 한다. 방법: 중합에 사용된 모노머(monomer)나 첨가제의 구성비 그리고 전자빔흡수선량(0~120 kGy)에 따라 HEMA의 중합정도를 관찰하여 전자빔조사(irradiation)에 의한 중합여부와 최적의 중합조건을 제시하였다. 동일한 반응물 구성비에 대해 전자빔과 열중합의 두 가지 다른 중합방법을 이용하여 고분자를 합성하였다. 각각의 고분자로부터 제조된 소프트콘택트렌즈에 대해 함수율, 산소전달률(Dk/t), 광투과율 등의 물리화학적 특성을 FT-IR 결과를 이용하여 비교 분석하였다. 결과: 전자빔조사선량(0~120 kGy)에 따라 살펴본 HEMA의 중합률은 100 kGy 이상에서 99% 이상으로 나타났으며, 사용된 모노머의 구성비나 광개시제와 가교제 등의 첨가에 무관하게 높은 중합률을 보였다. 전자빔 조사에 의해 제조된 렌즈의 함수율은 열중합 방법에 의해 제작된 렌즈에 비해 10% 이상 높게 나타났다. 산소전달률(Dk/t)도 함수율과 마찬가지로 전자빔조사방법에 의해 제조된 렌즈에서 더 높게 나타났으며, 순수한 HEMA의 경우는 약 2배 정도 높은 값을 보였다. FT-IR 분석결과, 전자빔 조사방법에 의해 제조한 렌즈에서 친수성 증가와 관계되는 OH group의 농도가 증가하였고 이에 따른 분자간 수소결합의 농도가 증가함을 확인하였다. 두 가지 다른 중합방법에 의해 제조된 렌즈의 가시광선(380~800 nm) 영역에서 광 투과율은 제조방법과는 상관없이 유사하였으며, 90% 이상의 높은 값을 나타내었다. 결론: HEMA를 기본으로 구성된 다양한 반응혼합물과 개시제나 가교제의 첨가가 없는 순수한 HEMA에 100kGy 이상의 전자빔을 조사할 경우 중합이 성공적으로 이루어졌다. 또한 순수한 HEMA에 100kGy의 전자빔을 조사하여 중합된 고분자로부터 제조된 콘택트렌즈에서 가장 높은 함수율과 산소전달률을 나타내어 전자빔조사조건에 따라 물리적특성이 다른 콘택트렌즈의 제조가 가능함을 확인하였다.

• 한국안광학회지
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• 제17권4호
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• pp.365-372
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• 2012

목적: 구면수차를 감소시키기 위해 설계된 비구면 소프트콘택트렌즈를 착용시킨 후 눈에서 변화된 고위수차와 구면수차를 분석하였다. 방법: 50명의 소프트 콘택트렌즈 착용자가 연구에 참여하였으며 SDD(Soflens Daily Disposable, Bausch+Lomb) 비구면 렌즈를 착용시킨 후 Wave-Scan Wavefront$^{TM}$ aberrometer (VISX, Santa Clara, CA, USA)를 이용하여 눈 전체의 고위수차와 구면수차를 4 mm의 동공크기를 기준으로 측정하였고, 구면수차 변화량은 착용한 비구면 렌즈의 약도, 중도, 고도의 도수에 따라 비교, 분석하였다. 밝은 조명(photopic)과 어두운(mesopic) 조명상태에서 대비도를 가지는 시력표(100%와 20%)를 이용하여 시력 검사를 하였고 OPTEC 6500 Vision Tester$^{(R)}$(Stereo Optical Co., Inc., Chicago, USA)를 사용하여 밝은 조명(photopic)과 어두운(mesopic)조명 상태의 대비감도를 각각 측정하였다. 모든 측정은 산동 시키지 않은 상태에서 단안으로 시행하였다. 결과: SDD 비구면 렌즈를 착용한 경우 눈의 전체고위수차는 나안 상태보다 유의하게 감소하였고(p<0.001), 구면수차는 상당히 감소하여 0에 근접하는 경향을 보였다(p<0.001). SDD 렌즈 도수에 따라 전체고위수차 변화량(r= 0.237, p=0.018)과 구면수차 변화량(r=0.324, p=0.001)은 유의한 상관관계가 나타났다. 밝은 조명상태에서 100% 및 20% 대비도 시력은 각각 $-0.063{\pm}0.062$와 $0.119{\pm}0.060$으로 나타났고, 어두운 조명상태에서 100% 및 20% 대비도 시력은 $-0.003{\pm}0.063$과 $0.198{\pm}0.067$으로 측정되었다. 밝은 조명상태와 어두운 조명상태에서 대비감도는 각각 $3.095{\pm}0.068$과 $3.087{\pm}0.074$로 나타났다. 결론: 구면수차를 제어한 비구면 디자인의 소프렌 소프트렌즈(SDD)는 눈의 전체 고위수차와 구면수차를 감소시키고 눈의 구면수차를 보정하면서 시력의 질을 향상시킬 수 있을 것으로 사료된다.