• Transactions of the Korean Society of Mechanical Engineers
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• 제12권5호
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• pp.1026-1034
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• 1988

An efficient method for designing balancing springs to be used for dynamic balancing of planar mechanisms was studied. In spite of its wide application in the field of balancing problems such as balancing of input torques, clearance effects etc., there have been few efficient ways of determining the specifications of the balancing springs. To improve this problem, a method of approximating the characteristic of linear springs was suggested and its validity was checked through an analysis of errors. Further, through an example of a balancing problem to reduce the fluctuation of input torques of a 4bar mechanism, it was shown that the proposed method of approximation simplifies the design equations and a satisfactory result can be found efficiently.

• Proceedings of the KSME Conference
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.945-950
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• 2007

This paper presents the design study of a rotary MRF(Magneto-Rheological Fluid) damper that can be conveniently used in the joints to control the damping torques. The basic design concept is to determine the geometric design variables allowing the magnetic flux to flow across the same sectional areas under volume constraint condition. The effects of each design variables for generating the torques were investigated by magnetic field analyses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• The Bulletin of The Korean Astronomical Society
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• 제39권1호
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• pp.58.1-58.1
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• 2014

We model the polarized dust emission from aligned grains by radiative torques in molecular clouds. We consider various models of molecular clouds and calculate the polarization spectrum from aligned grains by both internal and external radiation fields. We show that some polarization spectrum exhibits the bump at wavelengths ${\lambda}$ < $100{\mu}m$, which can be explained due to the polarized emission from a population of small grains aligned by internal radiation fields. Our polarization spectra can explain the anomalous spectra observed by Hildebrand et al, with the rising polarization toward short wavelengths

• Journal of Korean Society of Industrial and Systems Engineering
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• 제20권43호
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• pp.197-204
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• 1997

Torques on each joint, the compression on L5/S1 disc, the force on hand of a rider are estimated using a static biomechnic model. Forces that the rider applies to the pedals, saddle and handle during starting and speeding are estimated using static mechanics. Physical stress is considered accroding to handle height and horizontal distance between handle and pedal. When handle height is higher in normal speeding, the force on handle and sum of torques on each joint decreases.

• The Journal of Advanced Prosthodontics
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• 제8권2호
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• pp.110-115
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• 2016

PURPOSE. The purpose of this study was to compare the removal torques of a chemically modified SLActive implant and a blasted, laser-treated (BLT) implant, which were soaked in saline for 2 weeks after their surface modifications. The removal torques of the two implants were measured 4 weeks after their implantation into the bone defect area in rabbit tibias with concentrated growth factor (CGF) application. MATERIALS AND METHODS. To make artificial bone defects in the cortical layers of both tibias, an 8-mm diameter trephine bur was used. Then, prepared CGF was applied to the bony defect of the left tibia, and the bony defect of the right tibia was left unfilled. Four weeks later, the surgical sites of 16 rabbits were re-exposed. For 8 rabbits, the SLActive implants (Straumann, Switzerland) were inserted in the left tibia, and the BLT implants (CSM implant, Daegu, Korea) were inserted in the right tibia. For other rabbits, the BLT implants were inserted in the left tibia, and the SLActive implants were inserted in the right. Four weeks afger the insertion, torque removal was measured from 4 rabbits exterminated via $CO_2$ inhalation. RESULTS. No significant difference was observed between removal torques of the BLT implant and the SLActive implant (P>.05). CONCLUSION. It was found that BLT surface modification exhibited excellent osseointegration. In addition, CGF application did not affect the insertion and removal torque of the implants.

• Journal of Biosystems Engineering
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• 제20권3호
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• pp.245-249
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• 1995

In this study power requirements to saw shoots with circular saw were determined by measuring and analyzing the required maximum torque to provide the information for the mechanization of Korean pine cone harvest. Two levels of feed rate of shoots, 10.4mm/s and 20.8mm/s, three levels of sawing speed 5.8㎧, 11.6㎧, and 17.4㎧, and 14 levels of shoot diameter from 7.7 to 18.1mm were used as variables. 1) The maximum torques were significantly affected by all three variables. The average maximum torque, 18.2 N-cm for feed rate of 20.Bmm/s was greater as much as 80% of 10.1 N-cm for feed rate of 10.4mm/s. 2) As the sawing speed was increased from 5.8㎧ to 11.6㎧ and 17.4㎧, the maximum torques were decreased to 14.8N-cm, 8.5N-cm, and 7.IN-cm, respectively when the feed rate was 10.4mm/s. The maximum torque ranged from 4.5 to 19.3N-cm as shoot diameter increased from 7.7 to 18.1mm. The minimum power requirements to saw shoots of 18.1mm with circular saw was 30W for the feed rate of 10.4mm/s. 3) The maximum torques were 28.6N-cm, 14.6N-cm, and 11.4N-cm when sawing speeds were 5.8㎧, 11.6㎧, and 17.4㎧, respectively when the feed rate was 20.8mm/s and these torques were increased as much as 93%, 36%, and 61% of those for the feed rate of 10.4mm/s. The maximum torque increased from 9.7N-cm to 30.7N-cm as shoot diameter increased from 7.7 to 18.1mm. The minimum power requirements to saw shoots of 18.1mm was 54W which was 1.8 times of 30W for the feed rate of 10.4mm/s.

• Journal of the Korean Magnetics Society
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• 제20권2호
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• pp.61-67
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• 2010

As a high energy permanent magnet is commonly applied to motors so that small motors have high power capacities, it is also necessary to reduce a cogging torque which causes a noise and vibration in permanent magnet motors. The patterns of cogging torque in permanent magnet motors depend on the magnetic field distributions, so it is possible to reduce a cogging torque by designing a core shapes optimally. But it is known that an optimum design algorithm for reduction of cogging torques is too complicated and the process to get an optimized core shape is time consuming task. In this paper, new simplified core shapes are suggested to reduce a design parameters so that the core shapes to reduce a cogging torques could be obtained with simple computations. The result shows that the cogging torques of permanent magnet motors with this simplified core shapes could be reduced effectively without any loss of average torques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.