최근 화장품을 사용하는 인구가 증가함에 따라 세안의 중요성도 강조되고 있다. 회전 브러시를 이용한 세안은 이전부터 산업계에서 적용되어 온 방법이나, 국내 문헌상 회전 브러시를 이용한 클렌징 기기의 세정효과에 대한 연구가 보고된 바가 없는 실정이다. 본 연구는 회전 브러시를 장착한 클렌징 기기인 PBRCF1201(Amorepacific Co., Korea)에 대한 세정력과 피부상태 개선효과에 대한 실험 결과를 보고한다. 총 20명의 환자가 참여하였으며, PBRCF1201를 사용하기 전 블랙헤드, 세정력(피부 밝기), 피부 각질, 모공, 유분함유량에 대해 측정을 하였고 시험제품을 1회 사용하게 한 후 동일한 항목을 측정하였다. 평가 대상 부위는 얼굴과 전박부를 대상으로 하였다. 그 결과 클렌징 젤을 단독으로 사용할 때보다 클렌징 젤과 클렌징 기기를 사용하였을 때 통계적으로 유의한 차이를 나타내며 더 좋은 세정력을 나타냈으며 피부 각질, 블랙헤드, 유분 함유량, 모공 개수 역시 감소하였다. 결론적으로 회전 브러시를 장착한 클렌징 기기는 피부에 손상이나 건조를 유발시키지 않는 효과적인 세안방법이라고 생각된다.

To evaluate the traffic safety of PSC box bridge for high running speed up to 450km/h of KTX, a dynamic analysis of rotation spectrum on the centre of vehicle is needed concurrently with existing design specifications. All directions of rotation spectrum are considered to analyze the dynamic structural behaviors of PSC bridges as well as harmonic running movements of KTX due to three mass; a cargo body, front/rear bogies and four wheel axises connected with two suspensions. KTX power train is modeled by 38 degree-of -freedom ; 6 degree-of-freedom for body and bogies, and 5 degree-of-freedom for wheel axises. The rotation spectrum of KTX resulted in the analysis will be focused on the design specification of KTX running on the bridge, for increasing its speed as a new evaluation standards of traffic safety

After conversion, T. S. Eliot’s religious phrase generates a new kind of experimental form like an unfinished two-part poem Coriolan. The first fragment, “Triumphal March” shows the distance and juxtaposition of the two worlds: the worthless secular world of common people and transcendental reality of war hero Coriolan symbolized as “the still point of the turning world.” In the second fragment “Difficulties of a Statesman,” Eliot describes an anguish soldier-statesman Coriolan facing difficulties of leading public after the war. In this respect political leader Coriolan craves spiritual redemption for his desperate emotional emptiness as a result of rootless human relationship with his people and losing his real identity of “the still point of the turning world.” Coriolan study in terms of Christian symbol of “the still point of the turning world” contains important echoes of poems such as Ash Wednesday and Ariel Poems. It also foreshadows Eliot’s later recurrent images used in Choruses from The Rock and Four Quartets as well as his poetic dramas.

본 연구는 ‘퍼듀 공간 시각화 검사: 회전의 시각화(개정판)’의 한국판을 표준화하기 위한 기초 연구이다. 이를 위하여 총 30문항으로 구성된 ‘퍼듀 공간 시각화 검사: 회전의 시각화(개정판)’를 한국어로 번역하여 중학생 509명에게 검사를 실시하여 신뢰도와 타당도를 분석하였다. 신뢰도 검사는 문항내적일관성신뢰도로 Cronbach's α를 구하였으며, 타당도 검사는 확인적 요인 분석을 실시하였다. 분석결과는 다음과 같다. 첫째, Revised PSVT:R 검사(한글판)의 문항내적일관성 신뢰도는 Cronbach's α=.862로 적절한 것으로 나타났다. 둘째, Revised PSVT:R 검사(한글판)의 30문항에 대한 타당도를 검증하기 위하여 확인적 요인분석을 한 결과, Revised PSVT:R 검사(한글판)의 타당도가 양호한 것으로 판단되었다. 셋째, Revised PSVT:R 검사(한글판)의 30문항에 대한 문항난이도는 .230에서부터 .906으로 나타났으며, 문항변별도는 양적 상관관계에 있는 것으로 나타났다. Revised PSVT:R 검사(한글판)의 문항별 난이와 회전 특성(각도, 방향, 회전축) 사이의 관계에서는 회전의 복잡성이 문항의 난이도에 어느 정도 영향을 미치지만 이 이외의 다른 요인이 작용하는 것으로 보아 절대적 요인은 아닌 것으로 나타났다

본 논문에서는 6자유도를 갖는 병렬형 기구의 출력 속도 공간에서 성능을 평가할 수 있는 지표를 제안하였다. Manipulability와 condition number에 기반을 둔 성능 지표가 단위계의 볼일치로 인한 물리적 의미의 결함이 없도록 출력공간을 병진속도 공간과 회전속도 공간으로 분리하는 방법을 제안하였다. 각 공간에서 단위 입력에 대용하는 mobility ellipsoid를 정의하여 이를 기반으로 병진운동 출력공간에서 두 종류 성능 지표와 회전운동 공간에서 두 종류의 성능 지표를 제안하였다.

This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

철도교량의 경우, 열차하중에 의한 영향으로 교량 단부에서 상향력이 발생하였으며, 이 상향력은 체결장치에 압축력과 인장력을 유발시켰다. 현재까지 이에 대한 안전성을 검토하기 위해 체결장치를 1방향의 스프링 요소로 모사하여 구조해석을 수행해 왔다. 이러한 경우에 스프링 요소의 강성은 압축력을 재하한 실험적 연구에 의하여 산정되었다. 따라서, 상향력은 체결장치에 압축력뿐만 아니라 인장력도 유발시키기 때문에 합리적이고 정확한 구조해석을 수행하기 위해서는 인장력을 재하한 실험적 연구로부터 산정된 병진방향 강성 그리고 회전방향 강성을 함께 고려해야 한다. 본 연구에서는 6가지 실험체에 대하여 탄성과 비탄성 실험을 수행하여 레일 연직방향 병진강성과 레일 강축에 대한 회전강성을 검토하였고, 체결장치의 구조적인 거동을 분석하였다.

Heat transfer and flow characteristics in a pipe in which the rotating cutting tool for boring a underground pipe without digging were considered in this study. The amount of heat generation due to the friction between the rotating cutter and pipe wall, mixing flow of air and water injected to cool down are the two important factors to design the boring machine. Computational fluid dynamics analysis using the Eulerian mixture model and the standard k-ε turbulence model was used to analyze the complex phenomena in a pipe during the process. Results show that pipe wall temperature decreased with increasing the cooling water inlet velocity. It is also shown that pipe wall temperature was lowered when the cutter rotation speed was increased until 600 rpm. There was no further cooling effect over 600 rpm.

항만에서 작동중인 컨테이너 크레인에 갑작스러운 돌풍에 의해 크레인이 밀리는 현상을 방지하기 위한 안전장치로 레일 클램프가 적용되고 있다. 본 연구에서는 이러한 레일 클램프 중에서 특히 레일의 손상과 레일 클램프 수명을 향상시킬 수 있는 쐐기형 레일 클램프을 제작하기 위한 기초 설계에 관한 연구를 수행하였다. 특히, 조의 회전을 방지하고 적절한 가압력을 발휘할 수 있는 쐐기각을 설정하기 위해, 우선조의 설계 치수와 회전력의 관계에 대한 하중분석을 수행하고, 여기에서 최대 쐐기각을 도출하고, 이후 수치 해석을 통한 강성도 분석을 통하여 최소 쐐기각 6˚를 제안한다. 또한, 제작된 레일 클램프를 통한 실험으로 검증하였다.