Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
The Korean Society of Mechanical Engineers
- Semi Annual
2001.06b
-
Slopping deteriorates the productivity and the stability of operation in BOF refining process, and hence POSCO has developed methods to predict and prevent slopping. Specific equipment was developed to measure the change of the reacting force to the oxygen-blowing lance against oxygen jet and the force was gathered and analyzed with the flow rate of oxygen and the height of lance. From this study, it was found that the reacting force is strongly correlated to the slag foam height. Currently, the modeling of the relation of the slag foaming level and the vertically acted force to lance is being approached for predicting the slopping.
-
The performance of an inductive position sensor is described by the accuracy and the dynamic characteristics of the sensor. Both of these performance indices are affected by magnetic hysteresis and eddy currents. In this paper, a model of an inductive sensor is presented. This model includes the effects of hysteresis and eddy currents. Computer simulation shows that the sensitivity of the sensor is greatly affected by hysteresis and eddy currents. Repeability error increases with hysteresis and eddy currents effects. Results also show that eddy currents influence more on the sensor performance than hysteresis does. To reduce the effects of hysteresis and eddy currents, the sensor should be made out of thin laminations with high resistivity.
-
Analyzing the ECG signal, we can find heart disease, for example, arrhythmia and myocardial infarction, etc. Particularly, detecting arrhythmia is more important, because serious arrhythmia can take away the life from patients within ten minutes. In this paper, we would like to introduce the signal processing for ECG analysis and the device made for wireless communication of ECG data. In the signal processing, the wavelet transform decomposes the ECG signal into high and low frequency components using wavelet function. Recomposing the high frequency bands including QRS complex, we can detect QRS complex and eliminate the noise from the original ECG signal. To recognize the ECG signal pattern, we adopted the polynomial approximation partially and statistical method. The ECG signal is divided into small parts based on QRS complex, and then, each part is approximated to the polynomials. Comparing the approximated ECG pattern with the database, we can detect and classify the heart disease. The ECG detection device consists of amplifier, filters, A/D converter and RF module. After amplification and filtering, the ECG signal is fed through the A/D converter to be digitalized. The digital ECG data is transmitted to the personal computer through the RF transceiver module and serial port.
-
In this paper presents an accurate AFM used that is free from the Z-directional distortion of a servo actuator is described. Two mathematical correction methods by the in-situ self-calibrationare employed in this AFM. One is the method by the integration, and the other is the method by inverse function of the calibration curve. The in situ self-calibration method by the integration, the derivative of the calibration curve function of the PZT actuator is calculated from the profile measurement data sets which are obtained by repeating measurements after a small Z-directional shift. Input displacement at each sampling point is approximately estimated first by using a straight calibration line. The derivative is integrated with reference to the approximate input to obtain the approximate calibration curve. Then the approximation of the input value of each sampling point is improved using the obtained calibration curve. Next the integral of the derivative is improved using the newly estimated input values. As a result of repeating these improving process, the calibration curve converges to the correct one, and the distortion of the AFM image can be corrected. In the in situ self-calibration through evaluating the inverse function of the calibration curve, the profile measurement data sets were used during the data processing technique. Principles and experimental results of the two methods are presented.
-
In this paper, a low price ultrasound image processing system is developed using DSP and PC. Ultrasound for image is generated by the 32-channel transducer. Ultrasound image is captured by DSP instead of the private image grabber board. Display of image and image processing algorithms are performed by PC. The image processing algorithms based on GUI are realized by software. So users without knowledge of image processing can perform the image enhancement more easily.
-
The necessity of six axis force-torque sensors have been increased in the field of automatic assembly, polishing and deburing using robotic manipulator recently. This paper presents a simple and compact elastic structure design of the six axis force-torque sensor with a cross-shaped structure and the expected deflection value was induced by theoretical method to design a six axis force-torque sensor and then this theoretical method was verified by comparing with the results using the Finite Element Method(FEM).
-
In this study, the deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed. In case, magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. Thus, the device of a magnetic fluid proposed the complete zero-leakage Sealing and the surface actuator. The device of surface deformation as well comparison between numerical simulation and experiments as will be presented.
-
In this study, we developed a measuring system utilizing machine vision for measuring the precision of positioning of micro stepping motor. The measuring system equipped with CCD Camera, ring illumination and diffuser measures the repeatability and the hysterisis of a micro stepping motor by means of the pointer attached to the motor directly. With the measuring system, it was possible to measure the precision of the micro stepping motor in the resolution of
$50{\mu}m$ . -
Ultrasonic flowmeters have more advantages than the conventional method using pressure-difference. In these reasons, many advanced nations are already selling the commercial model. In RIST, we have been developed ultrasonic gas flow meter for the localization since a project was been contracted with POSCO in 1997. This paper describes a new ultrasonic gas flowmeter. This ultrasonic gas flowmeter is developed for accurate measurement of gases in a harsh environmental conditions. It is especially suited for measuring LDG, COG, BFG gases produced in iron & steel making process. In this study, we had developed the commercial model about the first tested model and applied a completed system to the POSCO gas line. Its performance has already well been proven by extensive field tests for several months in POSCO, iron & steel making company.
-
This papers deals with feasibility study of wireless motion control. Wireless telecommunication advances with development of IT technology and extends more and more areas. So we selected Bluetooth out of the technologies(Bluetooth, SWAP(SharedWireless Access Protocol), IrDA(Infra Red Data Association), WLAN(Wireless Local Area Network)) which was developed for local data communication and set up simple experimental system for wireless data transfer and server and client program for wireless data transfer was wrote. We successfully transferred some data wirelessly with this program.
-
In automobile highway tunnels, in order to maintain a suitable environment for drivers and traffic, visibility in the tunnel must be maintained, and the concentrations of poisonous substances including carbon monoxide must be kept at or below allowable levels. For this reason, in long tunnels and tunnels with heavy traffic, ventilation facilities are installed. When the ventilation facilities are run at full capacity, the environment in the tunnel is obviously adequately maintained, but this consumes a great deal of electric power. Consequently, a central problem in highway tunnel ventilation control systems is to keep the pollution concentration at or below the allowable level, and thus provide a safe environment for traffic, while consuming as little electricity as possible. This paper introduces an operation method of longitudinal flow ventilation systems with jet-fan, dust collector and vertical ducts.
-
This paper studies on the design of an ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between each stand plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. The mathematical model for looper is firstly obtained by Taylor's linearization of nonlinear differential equations, where it is given as a linear and time invariant state-space equation. Secondly, a looper servo controller is designed by ILQ control algorithm, which is an inverse problem of LQ(Linear Quadratic optimal control) control. By tunning control gain arbitration parameters and time constants, it is shown that the ILQ looper servo controller has the performance that makes well to follow desired trajectories of both strip tension and looper angle.
-
Discrete-time controller design is proposed using feedback system identification in frequency domain. System Stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Popov criterion. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation components, DC disturbance and a pure integration.
-
This paper discuss the real-time self-tuning learning control based on evolutionary computation, which proves its the superiority in the finding of the optimal solution at the off-line learning method. The individuals are reduced in order to learn the evolutionary strategy in real-time, and new method that guarantee the convergence of evolutionary mutations are proposed. It possible to control the control object varied as time changes. As the state value of the control object is generated, applied evolutionary strategy each sampling time because the learning process of an estimation, selection, mutation in real-time. These algorithms can be applied, the people who do not have knowledge about the technical tuning of dynamic systems could design the controller or problems in which the characteristics of the system dynamics are slightly varied as time changes.
-
The spherical CVT, intended to overcome some of the limitations of existing CVT designs, is marked by its simple kinematic design, improved efficiency of the shift actuator, and IVT characteristics, i.e., the ability of smooth transition between the forward, neutral, and reverse states without the need for any brakes or clutches. And it has been promised much possibility of energy savings and various applications for small power capacity machinery. Due to the nonlinearity of the spherical CVT shifting dynamics, however the original open-loop system is inherently unstable. Hence a feedback controller is necessary to make the system stable and to achieve effective tracking performance. To do this, we designed a feedback controller that cancels nonlinearities and transforms the original nonlinear system dynamics into a stable and controllable linear one, based on the input-state linearization method.
-
In swash plate type axial piston hydraulic pump and motor, the piston shoe is periodically pressurized with square function shape by supply pressure load as rotation of cylinder barrel. Therefore the recess pressure on bottom part of piston shoe is suddenly increase through orifice in the piston shoe. In this study, we simulated that the frequency response of the recess pressure against with change of supply pressure with analysis tool. Also, we evaluate the dynamic response characteristics of overbalanced hydrostatic bearing with change of the orifice diameter.
-
In this study, the 4-way spool valve characteristics are clearly defined and proposed new type of spool valve. This paper presents governing equations of the flow through clearances between sleeve and spool as a model of orifice flow for null characteristic analysis, and programmed analysis software of it. This software is possible to basically analysis that not only which case of open center, closed center or critical center but +,- displacement of spool, lab position, boundary region and spool opening of the valve, and to estimate the pressure variation in the spool and external leak flow variation. We are convinced that the scale of load pressure difference is changed as lab condition of spool valve, and this scale is changed with boundary point on the annular clearance. It is vary useful to designer and user of spool valve with this design data and analysis software.
-
The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.
-
Pantographes should follow periodical motions with hanger and span passing frequencies during operation in order to have good dynamic follow-up characteristics. According to the dynamic simulations of a pantograph together with catenary systems, the best current collection performance of a pantograph is obtained when receptance peak frequencies are matched with hanger and span passing frequencies. Based on this principle, design variables of G7 pantograph are selected. However, because a high-speed train may run in the wide range of speeds and induce aero-acoustic noises, the design variables are adjusted to escape from these problems with a little sacrifice of current collection performance.
-
Various control algorithms are available to suppress the vibration of a system subjected to disturbances. LQ algorithm is simple and easy to implement the hardwares, but it lacks robustness for uncertainties and often causes difficulty in determining the weighting matrices. This study focuses on the effectiveness ILQ(Inverse Linear Quadratic optimal control) algorithm as the alternative to LQ applied to control the vibration of a building under the seismic excitation. The building is of moment resisting steel frames and assumed to behave within the elastic range. The brief overview of LQ and ILQ algorithms is introduced, and the displacement responses of the structure using ILQ algorithm are compared with those obtained from LQ control. The magnitude of control forces are also determined and compared for both LQ and ILQ algorithm.
-
The Grand-Touring is a game motion simulator that simulates the race-car driving motion with three hydraulic cylinders which connect the platform and base in parallel. Its motion control system consists of the PC-based main controller and micro-controller based sub-controller. The former one process the dynamic image of race-car in response to the driver's action and computes the reference command for each cylinder and the latter one is designed for the tracking control of hydraulic cylinder and interfacing the auxiliary signals between various sensors/actuator and main controller. In this research, we developed the sub-controller that implements the required functions of Grand-Touring and prove the overall performance with experiments.
-
This paper presents the design method of the new controller for looper system in hot strip finishing mill. Looper response time is related to the performance of the tension control to reduce the delivery width error. The quality of the hot strip product, especially width deviation at the top of the strip, is influenced greatly by the precision of tension control. In this paper, a new fuzzy PID control system is designed to obtain the fast looper angle response and the high control precision. The computer simulation to verify the performance of the new controller is executed. From the results of the simulation, the tension control can obtain better performance than that of the conventional PID case.
-
Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.
-
The active magnetic bearing has many advantages - an active positioning, no contact and lubrication free motion - and is widely used in high precision motion stages. But, the conventional magnetic bearings composed of electromagnets only are power consuming due to their bias current and have the excessive heat generation, which can make the repeatability of the positioning system worse. To overcome this drawback, we developed a novel permanent magnet (PM) biased linear magnetic bearing for a high precision magnetically levitated stage. The permanent magnets provide a bias flux and generate a bias force, and the electromagnet increases or reduces a flux of the permanent magnets and gives a levitation force. This paper presents a theoretical magnetic circuit analysis, FEM analysis and experimental data from the 1-DOF tests, and compares the theoretical power consumption of the electromagnetic bearings and the PM biased linear magnetic bearings. The PM biased linear magnetic bearing presented in this paper gives better load capacity but lower power consumption than a conventional electromagnetic bearing and will be adopted in our 6-DOF high precision linear positioning maglev stage.
-
The riding comfort problem for railway vehicles of conventional line becomes increasingly important under the influence of the opening of Kyungbu high-speed and high-grade railway in 2004. Meaning of the term "riding comfort" of passenger train varies widely. In a narrow sense, the riding comfort means the comfort related to the vehicle vibration. But in a broad sense, the riding comfort means the comfort related to the cabin temperature, noise, illumination, smell, air-conditioning, etc. In this study, the riding comfort in a broad sense is treated and the direction of research for improving the riding comfort is presented.
-
In this paper, we have studies the images have been reconstructed by using combination of images which has been acquired by the variation of operating frequency. When inner images has been reconstructed, inner image has been superposition by surface state effect. In this case, image enhancement the phase object and enhance the contrast of inner image. In the result of the specimen for the round defect with 2mm diameter, for the types of the depth are 1.5mm, 2mm, 2.5mm, and 3mm, it has been show that the shape of defect has better than before this processing and phase contrast grow large twice. And we have constructed the acoustic microscope by using quadrature detector that is able simultaneously to acquired the amplitude and phase of the reflected signal. Father more we have studied the reconstruction method of the amplitude and phase images and the enhancement method of the defect images' contrast.
-
High speed railroad noise is one of the main causes of environmental impact. An estimate of the relevant noise levels is usually required in order to evaluate the noise barrier and the anti-noise trailer. This paper introduce the test procedure and the estimate for HST noise. The aim of this is to measure, by means of a test, the level of acoustic pressure present during the passing of a KTX(Korea Train Express), in order to satisfy the contractual requirements and the noise criteria. A number of measurements are carried out in order to estimate noise impact by HST along test track.
-
Sound quality engineering in automobile noise applications has become more and more important under the current quiet driving condition that the interior noise level is below 65 dBA, because various noise components masked under high noise level can be audible in quieter driving situation. Many researches have been carried out for subjective and objective assessments on automobile sounds and noises. In particular, the interior sound quality has been one of research fields that can give high-quality feature to automobile products. Although many works related to the interior sound quality have been progressed or completed in foreign countries, limited research results are presented in the country. In the study, as a base step necessary to objective assessments on car interior noises, subjective assessments are performed with 20 subjects. For this purpose, perceptual adjectives suitable to the assessment of acceleration noises are selected as assessment scales through questionnaire procedures using 35 subjects. Mean values and standard deviations are calculated for noises created through digital filtering of acceleration noises measured. In addition, the correlation analysis and the factor analysis are carried out to investigate the dependence of the assessment scales selected.
-
This study is concerned with the reduction of noise radiation by an industrial fan unit. Among the noise sources involved in the fan unit, this article is focused on the noise source due to vibration of panels of the unit housing. It is shown here that noise radiation associated with the panel vibration can be as significant in some frequency ranges as that associated with other noise sources such as aeroacoustic fan noise.
-
This paper discusses an experimental method for measuring the insertion loss (IL) performance of a double panel that are used in vehicles. Instead of two adjacent reverberation chambers which are generally used to measure the transmission loss (TL) of the large sound isolation materials, air-borne sound insulation tester was utilized to determine the IL and articulation index (AI) of standardized deadening materials. In comparison to reverberation chamber method, air-borne sound insulation tester method is more space-saving, more time-saving and more simple to the automotive acoustics. From the empirical results, it is verified that the performance of deadening materials is closely connected with thickness of panels, type of filling material that is filled into a double panel, and area ratio of double panel.
-
The more sophisticated patterns of propagation model is presented in this paper, which includes three different source characteristics (spherical, cosine and dipole). The spherical, cosine and dipole radiation characteristics compared, and sound event level and the maximum sound level are calculated by experiment and calculation. It is shown that patterns of propagation have dipole characteristics for low speed range (below about 150Km/h) at electric multiple system. We know that push-pull high speed system has cosine characteristics of noise propagation at low speed range (below about 200Km/h).
-
CD-ROM Drives Rotating high speed as 10000 rpm cause serious noise and vibration problems. At the high speed, dominant noise is Air Borne Noise produced from high-speed airflow and Structure Borne Noise produced from structural vibration. In this research, vibration and sound characteristics in CD-ROM Drive were studied by the use of experimental analysis and computational simulation. Sound intensity techniques and ODS(Operational Deflection Shape) techniques are applied to identify the acoustic noise source of CD-ROM drive. And Computational simulation using SYSNOISE is conducted for describing the noise behavior.
-
The equivalent source method(ESM) is used for the calculation of the internal pressure field for an enclosure which can have arbitrary boundary conditions and may include internal objects which scatter the sound field. The advantage of using ESM is that it requires relatively low computing cost and is easy to model the internal diffracting objects. In the ESM modelling, some of the equivalent positions are chosen to be the same as the first order images of the source inside the enclosure, some are positioned on a spherical surface some distance outside the enclosure. The normal velocity on the surfaces of the enclosure walls is evaluated at a larger number of positions than there are equivalent sources. The sum of the squared difference between this velocity and the expected is minimized by adjusting the strength of the equivalent sources. This study is on the optimal equivalent source positions, the far field sources. Typically, the far field sources are evenly distributed on a surface of a virtual sphere which is centered at the enclosure with a sufficiently large radius. In this study, optimal far field source locations are searched using simulated annealing method and simulation results showed that optimally located sources gave better accuracy even with a smaller number of far field sources.
-
Park, S.S.;Kim, D.K.;Yoo, H.R.;Cho, S.H.;Park, D.J.;Koo, S.J.;Rho, Y.W.;Lee, J.G.;Hong, H.S.;Seo, J.W.;Park, C.G. 222
This paper introduces the spring-mounted odometer system which maintains the correct contact with the pipe wall and measures the distance along the pipe. The odometer wheel is designed to keep contact to the pipelines inner wall and to generate fifty rectangular pulses per one turn(l59.5681mm) during pigging. The pipeline has the defects in various types such as buckles, winkles, cracks, dents, welding point and so on. Specially, girth welding points which exist each 12m of the pipeline, much affects the operational environment of the odometer. The measurement error of the distance along the pipe is accumulated, for the measurement error of wheel's circumference and the pipeline inner environment. So, this paper proposes the method for the error compensation based on the analysis of the odometer's behavior around the girth welding point of pipe. The experimental results show that developed odometer system can be used for the intelligent pig with good performances. -
Yoo, H.R.;Kim, D.K.;Cho, S.H.;Park, S.H.;Park, S.S.;Park, D.J.;Koo, S.J.;Rho, Y.W.;Park, G.S. 228
NTMS(Non-contact Tilted-angle Measuring System) is developed by using the principle that the magnetic field of an anisotropic magnet's inner space is uniform and it's possible to measure the strength of the magnetic field using a linear hall effect sensor. In order to implement the caliper system of the geometry PIG(Pipeline Inspection Gauge) which has high accuracy and proper output voltage of the hall sensor without additional driving module or a signal amplifier, it is necessary to consider the size of the magnet, the inner space and back-yoke and the position of pin-hole in the magnet. So the optimal design method of the caliper system is proposed through analysis of NTMS's magnetic field adopting a FEM(Finite Element Method). The experimental results show that the developed caliper system can be used for the geometry pig with good performances. -
This paper introduces developed prototype intelligent pig which detects corrosion on pipeline by using Magnetic Flux Leakage technology. The 8 inch developed MFL(Magnetic Flux Leakage) pig is composed of 5 yokes which magnetize pipeline wall and 45 Hall sensors which detect MFL signal. The designed MFL modules are analyzed by using magnetic circuit method in order to confirm whether pipeline wall is fully saturated. A variety of artificial defects are manufactured on 8 inch diameter steel pipeline in order to acquire MFL signals. So leakage flux of the axial, radial and circumferential component was acquired as defects. The results of this paper show that design technique for 8 inch MFL pig can be applied to large diameter MFL pig and 0.5mm defect depth can be detected.
-
This paper introduces modeling and solution for the dynamics of pipeline inspection gauge (PIG) flow in natural gas pipeline. Without of bypass flow, the dynamic behavior of the PIG depends on the different pressure between the rear and nose parts, which is generated by injected gas flow behind the tail of the PIG and expelled gas flow in front of its nose. With bypass flow, the PIG dynamics also depends on the amount of bypass flow across its body. The mathematical model are derived for unsteady compressible flow of the PIG driving and expelled gas, and for dynamics of the PIG. The bypass flow is assumed to be incompressible with the condition of its Mach number smaller than 0.45. The method of characteristic (MOC) and the Runge-Kutta method are used to solve the system governing equations. The simulation is performed with a pipeline segment in the Korea Gas Corporation (KOGAS) low pressure system, Ueijungboo-Sangye line. The simulation results show that the derived mathematical model and the proposed solution are effective for estimation the dynamics of the PIG with and without bypass flow under given operational condition.
-
In this paper, dynamic modeling and its analysis for the PIG flow through
$90^{\circ}$ curved pipe with compressible and unsteady flow are studied. The PIG dynamics model is derived by using Lagrange equation under assumption that it passes through 3 different sections in the curved pipeline such that it moves into, inside and out of the curved section. The downstream and up stream flow dynamics including the curved sections are solved using MOC. The effectiveness of the derived mathematical models is estimated by simulation results for a low pressure natural gas pipeline including downward and upward curved sections. The simulation results show that the proposed model and solution can be used for estimating the PIG dynamics when we pig the pipeline including curved section. -
This paper introduces a simple nonlinear adaptive control method for pipeline inspection gauge (PIG) flow in natural gas pipeline. The dynamic behavior of the PIG depends on the different pressure across its body and the bypass flow through it. The system dynamics includes: dynamics of driving gas flow behind the PIG, dynamics of expelled gas in front of the PIG, and dynamics of the PIG. The method of characteristics (MOC) and Runger-Kuta method are used to solve the dynamics of flow. The PIG velocity is controlled through the amount of bypass flow across its body. A simple nonlinear adaptive controller based on the backstepping method is introduced. To derive the controller, three system parameters should be measured: the PIG position, its velocity and the velocity of bypass flow across the PIG body. The simulation has been done with a pipeline segment in the KOGAS low pressure system, Ueijungboo-Sangye line to verify the effectiveness of the proposed controller. Three cases of interest are considered: the PIG starts to move at its launcher, the PIG arrives at its receiver and the PIG restarts after stopping in the pipeline by obstruction. The simulation results show that the proposed nonlinear adaptive controller attained good performance and can be used for controlling the PIG velocity.
-
This paper presents impact factors of domestic journals in mechanical engineering area to present an objective data for journal evaluation. For this purpose, reference data of 47 Korean journals are databased and analyzed. From the developed database, impact factor, immediacy index and self citation index are calculated.
-
In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by using Lyapunov's direct method. The results of computer simulations also show that the robot system is stable, and has excellent trajectory tracking performance.
-
Conventional clonoscope is semiflexible tube that should be manipulated by operator for inspection and treatment. Therefore, it sometimes causes pain for the patient and even perforation to the wall of colon if a surgeon is not well trained. For safe colonoscopy, self-propelling robots with inchworm locomotion are studied. But, inchworm locomotion has some problems in adaptiveness to the variation of colon diameter. In this paper, we propose novel locomotive mechanism which can move in the colon without any external assistance. It has several cams that have constant phase difference each other and located along the centerline of the mechanism. This mechanism could realize the robotic endoscope which has continuous and smooth thrust force.
-
As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.
-
This study provides analytical evaluation of the Dual-Ann Work Module. The current hydraulic system was modeled using the HyPneu and analyzed to find the cause of the instability. The cause of the instability was determined to be primarily an interacting involving the pilot operated check valves and the counterbalance valves for fail safe mode of operation. A new design concept was developed to eliminate the potential for unstable operation while adequately meeting the need for a fail-safe feature.
-
The two prototypes of a Wheel Type Locomotive Mechanism Using Micro motor for a Capsule-Type Endoscope are outlined and realized. Basic concept of these mechanisms is to use a rod-shaped wheel, with which these mechanisms can go over the haustral folds inside colon. The actuator of Prototype I is geared dc motor and the actuator for steering is Shape Memory Alloy. Prototype I goes through the whole area of colonoscopy training model. Prototype II can not only go forward and backward, but also be steerable with 2 geared dc motors. Prototype II goes through dead pig colon.
-
Kim, Byung-Kyu;Lee, Jin-Hee;Park, Ji-Sang;Lim, Young-Mo;Park, Jong-Oh;Kim, Soo-Hyun;Hong, Yeh-Sun 295
In recent years, as changing the habit of eating, the pathology in the colon grows up annually. For that reason, the colonoscopy is generalized. But it requires much time to acquire a dexterous skill to perform an operation. And the procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon. In this paper, we propose a novel design and concept of semi-autonomous colonoscope and two actuators for the micro robot. The micro robot comprises camera and LED for diagnosis, steering system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to keep the space between colon wall and the actuator. For actuating mechanism, we suggest two models. One is based on the reaction force, and the other is impact force. In order to validate the concept and the performance of the actuators, we carried out the preliminary experiments in rigid pipes. -
In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.
-
In this paper, we proposed the object-tracking algorithm that recognizes and estimates the any shaped and size objects using vision system. For the extraction of the object from the background of the acquired images, spatio-temporal filter and signature parsing algorithm are used. Specially, for the solution of correspondence problem of the multiple objects tracking, we compute snake energy and position information of the target objects. Through the real-time tracking experiment, we verified the effectiveness of the suggested tracking algorithm.
-
A haptic hand controller operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.
-
This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of
$90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results. -
This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.
-
This paper presents the way of building an occupancy grid map which a mobile robot needs to autonomously navigate in the unknown environment. A disparity map resulting from stereo matching can be converted into the 2D distance information. If the stereo matching has some errors, however, the subsequent map becomes unreliable. In this paper, a new morphological filter is proposed to reject 'spikes' of the disparity map due to stereo mismatch by considering the fact that these spikes occur locally. The new method has advantages that it is simpler and more easily realized than existing similar algorithms.
-
It is important to model the mechanical structure precisely and reasonably in predicting the dynamic characteristics, controlling the vibration, and designing the structure dynamics. In the finite element modeling, the errors can be contained from the physical parameters, the approximation of the boundary conditions, and the element modeling. From the dynamic test, more precise dynamic characteristics can be obtained. Model updating using parameter modification is appropriate when the design parameter is used to analyze the input parameter like finite element method. Finite element analysis for cantilever and simply supported beams with uniform area and shape change are carried out as model updating examples. Mass and stiffness matrices are updated by comparing test and analytical modal frequencies. The result shows that the updated frequencies become closer to the test frequencies.
-
In this study, a method is presented to find out a relationship between modes of a substructure and those of the system structure. Superelement analysis is performed for a full vehicle system, where the bus is partitioned by six parts. In this study, Modal Assurance Criteria(MAC) which is to represent the correlation between two mode shapes is used to investigate the contribution factor of each substructure for the full system. The proposed participation factor can be used for design of substructures to meet the design target of the total structural system.
-
A structure which is accelerated in the chordwise direction induces variation of the bending stiffness due to inertia force. Thus, the characteristic of natural vibration is also changed. This paper presents a modeling method for the vibration analysis of translationally accelerated cantilever plates. The dependence of natural frequencies and modes on the acceleration changes of the plate is investigated. Particularly, a natural frequency loci veering is observed and discussed in the present study.
-
By using Frenet formulation and Timoshenko beam theory, the partial differential equations of motion are derived for a helical spring having a doubly symmetrical cross section subjected to the pre-load axially. These equations of motion are solved to give the dispersion relationship and dynamic stiffness matrix is assembled. Natural frequencies are obtained from the receptance of the system. The results of the dynamic stiffness method are compared with those of the transfer matrix method from published examples and finite element method.
-
Laboratory tests are conducted to validate the mechanical model of a filament-wound composite shaft. Also, design charts are produced by validated analytical calculations based on the Timoshenko beam model of a layered steel/composite structure. The major results found are that steel/composite hybrid shafts can lead to better dynamic and static performances over steel or pure composite shafts of the same volume, and the most effective composite structures contain some steel in the form of a tubular core. These results can be used in the design process of composite boring bars and automotive drive shafts.
-
Dynamic stability of an oscillating cantilever plate is investigated in this paper. The equations of motion include harmonically oscillating parameters which originate from the motion-induced stiffness variation. Using the multiple scale perturbation method is employed to obtain a stability diagram. The tability diagram shows that relatively large unstable regions exist when the frequency of oscillation is near twice the frequencies of the 1st torsion natural mode and the 1st chordwide bending mode.
-
A new non-linear of a straight pipe conveying fluid is presented for vibration analysis when the pipe is fixed at both ends. Using the Euler-Bernoulli beam theory and the non-linear Lagrange strain theory, from the extended Hamilton's principle are derived the coupled non-linear equations of motion for the longitudinal and transverse displacements. These equations of motion for are discretized by using the Galerkin method. After the discretized equations are linearized in the neighbourhood of the equilibrium position, the natural frequencies are computed from the linearized equations. On the other hand, the time histories for the displacements are also obtained by applying the
$generalized-{\alpha}$ time integration method to the non-linear discretized equations. The validity of the new modeling is provided by comparing results from the proposed non-linear equations with those from the equations proposed by$Pa{\ddot{i}}dousis$ . -
This paper deals with the effect of an adjacent viscous fluid on the torsional vibration of a circular rod excited by a transducer at one end. The interaction between the torsional vibration of the rod and the fluid has been studied theoretically and expressed in terms of the mechanical impedance. The theoretically-obtained trend that the mechanical impedance is proportional to the square root of the viscosity times density of the fluid has been confirmed by the impedance measurement. The paper demonstrates that a torsionally-vibrating rod can be used as a sensor measuring the viscosity of a fluid.
-
In this paper, the vibration characteristics of IHTS(Intermediate Heat Transfer System) piping system of LMR(Liquid Metal Reactor) conveying hot liquid sodium are investigated to eliminate the pipe supports for economic reasons. To do this, a 3-dimensional straight pipe element and a curved pipe element conveying fluid are formulated using the dynamic stiffness method of the wave approach and coded to be applied to any complex piping system. Using this method, the dynamic characteristics including the natural frequency, the frequency response functions, and the dynamic instability due to the pipe internal flow velocity are analyzed. As one of the design parameters, the vibration energy flow is also analyzed to investigate the disturbance transmission paths for the resonant excitation and the non-resonant excitations.
-
This paper concerns on modal analysis of mechanical structures by using a continuous scanning laser Doppler vibrometer. In modal analysis the Hilbert transform based approach is superior to the Fourier transform based approach because of its fine accuracy and its flexible experimental settings. In this paper the Hilbert transform based approach is extended to measure area mode shape data of a structure by simply modifying the scanning pattern ranging the entire surface of the structure. The effectiveness of this proposed method is illustrated along with results of numerical simulation for a rectangular plate.
-
A simplified modeling approach of forced vibration for occupied car seats was demonstrated by using a mathematical model presented in previous paper. Nonlinear and linear equations of motions were rederived for forced vibration, and the transfer function was used to calculate the frequency response function. The experimental apparatus were set up and hydraulic shaker was used to obtain the system responses. Through the tests, mannequin's head had a lot of problems, and the responses with a head and without a head were measured. To explore the effects of linear dampings and friction moments at the joints, linear analyses were performed. New sets of linear spring and damping coefficients, and torsional dampings at the joints were calculated through parameter study to match up with experimental results. Good agreement between experimental and simulation frequency response estimates were obtained both in terms of locations of resonances and system deflection shapes at resonance, indicating that this is a feasible method of modeling seated occupants.
-
Seismic qualification of the Air Cleaning Units for nuclear power plant Ulchin 5&6 has been performed with the guideline of ASME Section III and IEEE 344 code. By using the structural and geometrical similarity analysis, the three models to be analyzed is condensed into a single model and, at the same time, the excitation forces and other operating loads for each model are encompassed with respect to different loading conditions. As the fundamental frequencies of the structure are found to be less than 33Hz, which is the upper frequency limit of the seismic load, response spectrum analysis using ANSYS is performed in order to combine the modal stresses within the frequency limit. In order to confirm the structural and electric stability of the major components, modal analysis theory is adopted to derive the required response spectrum at the component locations. As the all combined stresses obtained from the above procedures are less than allowable stresses and no mechanical or electrical failures are found from the seismic testing, the authors confirm the safety of the nuclear equipments Air Cleaning Units studied in this paper.
-
Hydraulic mounts have been used as an alternative to the conventional rubber mounts for they can provide more desirable stiffness and damping properties which may vary with frequency and excitation amplitude. Although a lumped-parameter non-linear model of the hydraulic mount developed by a simple fluid dynamic analysis can be successfully used for representing the inertia track dynamics, a linear model is still preferred. In this paper, an analytic technique for making a linear model of the hydraulic mount is proposed.
-
It was firstly issued that frequently broken of Encoder installed at travelling motor during RTGC operation. Estimated as broken due to excessive vibration of traveling and motor manufacturer claimed it as resonance of motor base. The principal vibration of Encoder was caused by the rotating vibration component of motor and by traveling wheel. The component transmitted from the wheel didn't have great vibration by the resonance with motor and other parts. Therefore, the plans was tried to add the support point to prevent the Encoder shaft vibrated greatly and inhibit the vibration. These showed good results.
-
The component mode synthesis method allows the elastic deformation of each component in the flexible multibody system by a sum of modes and modal coordinates. This paper focuses on the selection of boundary conditions and deformation modes for redundantly constrained flexible components in mechanical system dynamics. The result of a flexible body dynamic analysis with only normal modes is used to identify proper boundary conditions of a static modes and a desired set of static modes which will be used in the final model. A simple four bar mechanism is used to explain the procedure and a space satellite with solar panels is analyzed using the proposed method.
-
In this paper, the design factors of stacker crane for the automatic warehouse are verified by dynamic simulation process. Simulation model is designed as the form of rigid elements and discrete flexible beam connections. The various result for structural design of stacker crane is produced by dynamic simulation and experiment. For the simulation of structural dynamics, ADAMS which is a software for kinematic & dynamic simulation, is used. In order to verify the analysis method, simulation and experiment result are compared.
-
In this paper, stacker crane is modeled as rigid elements and discrete flexible beam connections by kinematics & dynamics solver package program instead of deriving the equations of motion which describes the total dynamics of the system. For the simulation of structural dynamics, ADAMS, a software for the simulation of multiple rigid body dynamics, is used. Some kinds of works are fulfilled to examine the dynamic characteristics of system. In order to verify the analysis method, the results of simulation and experiment are compared.
-
The process and results of the Coupled Loads Analysis performed in the course of the development of the KOMPSAT-1 were introduced in this paper. The process of performing the Coupled Loads Analysis was explained. The finite-element model of KOMPSAT-1 was explained. The load cases analyzed were introduced. With the results obtained from the Coupled Loads Analysis, it was confirmed that the KOMPSAT-1 was safe from the loads transmitted from the launch vehicle during launch vehicle flight.
-
This paper presents an analytical evaluation of the effect of motion on seismic responses of base isolated low-level building and experimental studies to evaluate isolation performances of a rubber bearing. Dynamic responses induced by earthquake were evaluated by response analyses, taking the rubber bearing of the base isolation devices into account. In the experiment, vibration tests were carried out using a model for rubber bearings as isolation devices against earthquake in order to investigate the isolation performances of the rubber bearings. Several kinds of rubber bearing for base isolated low-level building against earthquake are examined. As a result, it is shown that the effect of the motion on the response of the building and the base response is well controlled from a seismic design standpoint.
-
In this paper, contact between the coupler-roller and guide in elevator door mechanism is modeled and analyzed with DADS 3D program. The contact force of coupler-roller is an important factor for impact and noise reduction when doors of elevator are opened or closed. To minimize the maximum contact force, an optimal cam profile for the door guide is suggested. To find an optimal shape of the guide, several types of motion curve are tested with DADS contact module.
-
Vibration characteristics of a vehicle are mainly influenced by dynamic stiffness of the vehicle body structure and material and physical properties of the components attached to the vehicle body structure. In this paper, modeling techniques of the vehicle components are presented and the effects of the vehicle components on the vibration characteristics of the vehicle are investigated.
-
This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.
-
Planetary Speed Reducer consists of a sun gear, a planetary gear and a ring gear and if one element is fixed at this Speed Reducer, another elements operate to become a drive-axis and a subordination-axis respectively. Planetary Speed Reducer is frequently used for gear Speed Reducer because it has the advantage of having the high efficiency and getting the high Speed Reducer ratio in small space. However, it is difficult to know the current transmitted torque immediately during the use of Speed Reducer and so complicated equipment is installed in addition to protect the overload of system. The object of this paper is to design the Speed Reducer of torque- meter type that can know the torque transmitted using the power transmission feature of a simple Planetary Speed Reducer fixed at ring gear.
-
In this paper, based on the developed dynamic model of a vacuum circuit breaker mechanism, the development of the new circuit breaker with less energy mechanism is focused. The energy flow analysis of the original mechanism is carried out to show where the elastic potential energies of pre-loaded springs are transmitted. Through energy flow analysis, the concept design of the new circuit breaker with less energy mechanism is proposed, and then the detailed design is carried out through the design process based on the verified dynamic model. Comparing simulation results with experiment using a high-speed camera, the appropriateness of the proposed design procedures for the rapid circuit breaker mechanism is shown.
-
Time responses of a flexible spinning disk of which axis of symmetry is misaligned with the axis of rotation are analyzed in a numerical manner. Equations of motions are derived by Hamilton's principle based on Kirchhoff plate theory and von-Karman strain theory, and the equations are discretized by finite element method. In obtaining the time responses, Generalized-
$\alpha$ method is used to solve the equations. Based on the result, the effects of the misalignment are analyzed on the vibration characteristics of a spinning disk. -
Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..
-
The dynamic behavior of high speed train is very important because it should be safe and is satisfied with the ride comfort of passengers. The railway is composed of many suspension components-1st springs, 1st dampers, 2nd springs, 2nd dampers etc- that have an influence on the dynamic characteristics of high speed train. Also, the wheel/rail shapes, the track condition and geometry and many environmental factors-rain, snow, wind etc-are affected the dynamic behavior of high speed train. This paper is reviewed the effect of wind(gust) on the dynamic behavior of high speed train. Vampire program is used for this simulation. The result of simulation shows that high speed train should not be operated when the gust speed is beyond 34.5m/sec.
-
Computer modeling is essential to evaluate possible design of suspension for a railway vehicles. By creating a simulation, the engineers are able to assess the feasibility of a given design and change the design factors to get a better design. But if one wishes to perform complex analysis on the simulation, such as railway vehicle dynamic, the computational time can become overwhelming. Therefore, many researchers have turned to surrogate modeling. A surrogate model is essentially a regression performed on a data sampling of the simulation. In the most general sense, metamodels(surrogate model) take the form
$y(x)=f(x)+{\varepsilon}$ , where y(x) is the true simulation output, f(x) is the metamodel output, and$\varepsilon$ is the error between the two. In this paper, a second order polynomial equation is partially used as a metamodel to represent the forty-six dynamic performances for high speed train. The number of factors as design variables of the metamodel is twenty-nine, which are composed the dynamic characteristics of suspension. This metamodel is used to search the optimum values of suspension characteristics which minimize the dynamic responses for high speed train. This optimization is a multi-objective problem which have many design variables. This paper shows that the response surface model which is made through the design of analysis of computer experiments method is very efficient to solve this complex optimization problem. -
As needs for substitution of excessive road-oriented transport by the railroad increase, we proposed the guideline for development of the high speed freight car up to 150km/h through analyzing the critical speed of welded-type freight car employed and investigating the improvement in its maintenance. This study, the proper design parameters of conical rubber spring was determined to meet the vibration performance.
-
This research has been performed to estimate the hunting motion hysteresis of railway passenger cars. An old and a new car with almost same structure are chosen as analysis models. To solve effectively a set of simultaneous equations of motion strongly coupled with creep relations, shooting algorithm in which the nonlinear relations are regarded as a two-point boundary value problem is adopted. The bifurcation theory is applied to the dynamic analysis to distinguish differences between linear and nonlinear critical speeds by variation of parameters. It is found that there are some factors and their operation area to make nonlinear critical speed respond to them more sensitivity than linear critical speed. Full-scale roller rig tests are carried out for the validation of the numerical results. Finally, it is concluded that the wear of wheel profile and the stiffness discontinuities of wheelset suspension caused by deterioration have to be considered in the analysis to predict hysteresis of critical speed precisely.
-
In this paper, power flow characteristics of a hydromechanical transmission(HMT) are investigated using network analysis. The HMT used in this study consist of a hydrostatic unit(HSU), planetary gear sets, clutches and brakes providing forward 4 speeds and backward 2 speeds. Since the HMT power flows showing a closed loop and the HSU efficiency varies depending on the pressure and speed, a systematic approach is required to analyze the power transmission characteristics of the HMT. In order to analyze the closed loop power flow and the HSU power loss which changes depending on the pressure and speed, network model is constructed for each speed range. In addition, an algorithm is proposed to calculate an accurate HSU loss corresponding to the experimental results. It is found from the network analysis that the torque and speed of each transmission element including the HSU can be obtained as well as direction of the power flow by the proposed algorithm. It is expected that the network analysis can be used in the design of relatively complicated transmission system such as HMT.
-
Experimental study has been conducted to clarify the pneumatic characteristics of brake system for freight train and enhance the performance of diaphragm valve. Empty-load and diaphragm brake systems are mainly used in the freight trains of KNR (Korean National Railroad). The train set is composed of thirty freight cars and diesel locomotive. From the experimental results, new quick release valve shortens release time after brake application. In case of normal brake application, the release time is short by 34% of that of original diaphragm control valve. It will be expected to assure brake-release application and reduce maintenance efforts.
-
In this research, design Sensitivity Analysis is presented for commercial vehicle such as large scale structural system. The proposed method is based on vibration analysis of the total structure and design sensitivity to identify the contribution factor of the component structure to the total system structure. In addition, approximated equations derived from response surface method are used for representative section properties of the thin walled beams.
-
In this paper dynamic responses of an engine, which is supported by hydraulic mount, to throttle tip-in/tip out are analyzed. Because the hydraulic mounts have non-linearity which the characteristics of stiffness and damping vary with frequencies, it is difficult to analyze the dynamic behavior of an engine using general integral algorithms. Convolution integrals and relationships between unit impulse response functions and frequency response functions are therefore used to simulate the transient behavior of an engine indirectly. In time domain, impulse response functions are calculated by two-side discrete inverse Fourier transform of frequency response function achieved by Laplace transform of equations of motion. Considering the fact that the shapes of behavior of an engine simulated by the proposed method are in good agreement with test results, it is confirmed that the proposed method is very effective for the analysis of transient response to throttle tip-in/out of an engine with hydraulic mounts.
-
In this paper, an algorithm to improve the optimal engine operation is suggested by increasing the CVT shift speed. By rearranging the CVT shift dynamic equation, it is found that the CVT shift speed depends on the line pressure as well as the primary pressure. Based on the shift dynamics, an algorithm to accomplish a faster shift speed is presented by increasing the line pressure. In order to apply the algorithm, dynamic models of the line pressure control valve and the ratio control valve are obtained by considering the CVT shift dynamics and model based controllers are designed. It is found from the simulation results that fuel economy can be improved by 2% in spite of the increased hydraulic loss due to the increased line pressure.
-
To minimize the fuel consumption in the hybrid vehicle, the single performance index, which can express the fuel consumption in engine and electric energe consumption in battery system at the same time, is required. In this study we proposed a single performance index with equivalent BSFC concept, and with this, we constructed driving control algorithm, which can determine optimal gear ratio and power split ratio of the engine and the motor, for the parallel hybrid vehicle. Additionally, to verify the validity of this algorithm, driving simulation is performed.
-
General vehicle is evaluated by its acceleration, fuel economy, NVH (Noise, Vibration and Harshness) and subjective (Launching feel) performance. The first step to enhance its performance is to know how much each component affects on the vehicle performance. It is very important to know what is the key factor of the component among many specifications. Hydraulic torque converter can be expressed by means of its performance curve (torque ratio and capacity factor). In this paper, the key factor of torque converter, which affect vehicle performance, are explored by using Taguchi method.
-
Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.
-
In this paper, the dynamic response of the pantograph system that supplies electrical power to a high-speed rail vehicle were investigated. The analyses of the catenary based on the Finite Element Method (FEM) is executed to develop a pantograph fits well in high-speed focused on the dynamic characteristic analysis of the pantograph system. By simulation of the pantograph-catenary system, the static deflection of the catenary, the stiffness variation in contact lines, the dynamic response of the catenary undergoing constant moving load and the contact force analysis were executed. By the pantograph-catenary analysis, the design parameters of a pantograph could be optimized. For more improving the dynamic characteristics of the pantograph, the active-pantograph was investigated by controlling a contact force. The active pantograph showed the better performance compared to the parameter-optimized. However, the parameter-optimized pantograph would be acceptable for a high-speed rail vehicle through the design-parameter analysis.
-
Chattering phenomenon is an abrupt relative vibration between the strip and rolls of rolling machine in working. It inevitably results from the progress of the degeneration in the mill facilities. This research was carried out in order to analyze the characteristic and find the cause of chatter mark in finishing mill and it was founded that major causes are facility character of driving part and special condition in case of excessive roll force.
-
This paper presents the dynamic parameter design optimization of a suspension seat system using the genetic algorithm. At first, an equivalent 1-D.O.F. mass-spring-damper model of a suspension seat system was constructed for the purpose of its vibration analysis. Vertical vibration response and transmissibility of the equivalent model due to base excitations, which are defined in the ISO's seat vibration test codes, were computed. Furthermore, seat vibration test, that is ISO's damping test, was carried out in order to investigate the validity of the equivalent suspension seat model. Both analytical and experimental results showed good agreement each other. For the design optimization, the acceleration transmissibility of the suspension seat model was adopted as an object function. A simple genetic algorithm was used to search the optimum values of the design variables, suspension stiffness and damping coefficient. Finally, vibration ride performance test results showed that the optimum suspension parameters gives the lowest vibration transmissibility. Accordingly the genetic algorithm and the equivalent suspension seat modelling can be successfully adopted in the vibration ride quality optimization of a suspension seat system.
-
To improve the modeling accuracy for the finite element method, this paper proposes a method to make a combined use of finite elements and exact dynamic elements. Exact interpolation functions for a Timoshenko beam element are derived and compared with interpolation functions of the finite element method (FEM). The exact interpolation functions are tested with the Laplace variable varied. The exact interpolation functions are used to gain more accurate mode shape functions for the finite element method. This paper also presents a combined use of finite elements and exact dynamic elements in design problems. A Timoshenko frame with tapered sections is tested to demonstrate the design procedure with the proposed method.
-
The seismic design for an axial blower is the procedure in which the required response spectrum (RRS) is computed by using the floor response spectrum (FRS). The seismic design is very important to reduce severe damages from an earthquake; therefore, the seismic design has been a great concern in engineering society. In this study, after finite element modeling is established by using Ansys, the modal data are obtained such as the natural frequencies, the participation factor, and so on. With these data, the RRS is acquired by a numerical approach. The seismic safety of the axial blower is evaluated.
-
Free vibration analysis was performed for a spinning disk/spindle system mounted on a flexible baseplate. A simplified model was presented considering the effects of the baseplate flexibility on a disk/spindle system, and the equations of motion were derived by the assumed mode method and Lagrange's equation. From the results of the tree vibration analysis, the variations of the natural frequencies were investigated by changing rotating speed, baseplate thickness. They were attributed to the coupling between the flexible modes of the spinning disk/spindle system and the baseplate. This simplified model was used to predict the dynamic characteristics of a small size disk drive. The validity of the simplified model was verified by experiments and FE analysis.
-
Rotary ultrasonic motors are based on the traveling wave generated by piezo materials attached on the stator. Large scale model of an annular ring was built to understand the fundamental mechanism involved in the rotary ultrasonic motors. Traveling wave on the structure can be generated by superposing two standing waves. Precise matching of the amplitudes and phase shift between two standing waves in time and space is the key to the success of generating a traveling wave.
-
The longitudinal vibration of an axially moving membrane is studied when the membrane has translating acceleration. The equation for the longitudinal vibration is linear and coupled, The equation for the longitudinal vibration are discretized by using the Galerkin approximation after they are transformed into the variational equations, i.e., the weak forms so that the admissible function can be used for the bases of the longitudinal deflection. With the discretized equations for the longitudinal vibration, the time responses are investigated by using newmark method.
-
In a practical vibration isolation system, vibration is transmitted from the source to the receiver through several paths such as more than one inter-connected point and multi-degree of freedom at each connection point. Therefore, the major path investigation for vibration transmission among them is often required in a point of view of isolation. For the path analysis of multi-dimensional vibration isolation system, it is useful to employ the concept of vibration power in high frequency range where radiation of noise from the receiver structure is concerned. The idea is simple to understand and formulate but rather complicated to apply in practice. For an accurate estimation of power flow especially over a high frequency range, it is well known in theory that rotational motions should be taken into consideration together with translational motions at inter-connected points. In reality, however, power transmissions related to rotational terms are often neglected mainly due to difficulties in the instrumentation. In this paper, necessary formula and measurable mechanical quantities for vibration power analysis will be reviewed and experimental results with rotational terms included for compressor system in a commercial air conditioner will be shown.
-
Two types of bolted lap joints, one with a viscoelastic layer and the other without the viscoelastic layer were chosen to analyze the dynamic characteristics of the joints with the mechanical properties of the bolts of the joints being taken as computational variables. The finite element method was used along with the impact hammer technique to verify the FEM model. The results in the bolted lap joints reveal that the higher the Young's Modulus for the bolts are the higher the natural frequencies results for the joints. However, the natural frequency differences in the first and second mode are not substantial but become noticeable in the higher modes. Lower natural frequencies were obtained for the bolted lap joints with the viscoelastic layer when compared with those of the bolted lap joints without the viscoelastic layer. And the differences in the natural frequencies for the two types of joints are relatively small in the first and second mode whereas in the higher mode the differences become significant. The loss factors were observed to be significant especially in the second mode for the bolted lap joints with the viscoelastic layer.
-
Predicting brake squeal noise in design stage can be beneficial to reducing the expense of development. In this paper, the possibility of pre-estimating squeal phenomena of a disc brake system was investigated. To preestimate squeal phenomena, complex eigenvalue analysis was performed for brake system. The evaluation of noise dynamometer test verified the prediction and it corresponded with the result of complex eigenvalue analysis.
-
The small gear reductioner noise is caused by gear accuracy, assembling errors, and gear backlash. This main study is an investigation on noise quality of the small gear reductioner through the change of gear backlash. In this study included Gear design parameters related the small gear reductioner, the knowledge of rattle noise related gear backlash, and the experimentation results of the small reductioner noise through change of gear backlash. At last, this study propose the least method of the small gear reductioner noise that is caused by suitable existence of gear backlash.
-
In this paper, it is discussed that active noise control in a circular duct using smart foam. Firstly, it is demonstrated that the potential of the conventional smart foam, proposed by Fuller, for active noise control in a duct. Conventional smart foam is not applicable to active noise control in a duct having flow. Thus, this paper presents a ring-type smart foam as an alternative. The ring-type smart foam consists of polyurethane acoustic foam of lining shape and PVDF film embedded in the foam. The embedded PVDF element acts as an actuator to reduce noise at lower frequencies and the foam absorbs noise at higher frequencies. A filtered-x LMS controller is used to minimize the signal from the error microphone. Experiments are executed to reduce broadband and tonal noise.
-
In this paper, it is presented that the effect of air gap insertion in testing the transmission loss of sound barrier using structural vibration system. In this study, we use the APAMAT based on the structure-borne-noise. The measured results show that air gap insertion improves transmission loss as results of test based on the air-borne-noise. The measured results are compared with the predicted transmission loss using the transfer matrix method. The predicted results were found to be in reasonable agreement with measured results.
-
This article explains the theory of multiple mode/physical coordinate synthesis method in order to analyze the dynamic characteristics for an huge marine engine. The theory leads to make a simulation code. The natural frequencies obtained from the simulation code is compared to those from a commercial analysis software, ANSYS. The simulation code is well reviewed.
-
The dynamic response of an axially deploying beam is studied when the beam has geometric non-linearity and translating acceleration. Based upon the von Karman strain theory, the governing equations and the boundary conditions of a deploying beam are derived by using extended Hamilton's principle considering the longitudinal and transverse deflections. The equations of motion are discretized by using the Galerkin approximate method. From the discretized equations, the dynamic responses are computed by the Newmark time integration method.
-
Continuous-time controller design is proposed using feedback system identification in frequency domain. System stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Nyquist stability. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation and DC disturbance.
-
This paper is to propose image segmentation method based on chamfer algorithm. First, we get original image from CCD camera and transform it into gray image. Second, we extract maximum gray value of background and reconstruct and eliminate the background using surface fitting method and bilinear interpolation. Third, we subtract the reconstructed background from gray image to remove noises in gray image. Fourth, we transform the subtracted image into binary image using Otsu's optimal thresholding method. Fifth, we use morphological filters such as areaopen, opening, filling filter etc. to remove noises and isolated points. Sixth, we use chamfer distance or Euclidean distance to this filtered image. Finally, we use watershed algorithm and count microorganisms in image by labeling. To prove the effectiveness, we apply the proposed algorithm to one of Ammonia-oxidizing bacteria, Acinetobacter sp. It is shown that both Euclidean algorithm and chamfer algorithm show over-segmentation. But Chamfer algorithm shows less over-segmentation than Euclidean algorithm.
-
ABS is a safety device, which adds hydraulic system to the existing brake system to prevent wheel from locking, so we can obtain maximum braking force on driving. The hydraulic system to control braking pressure consists of sol-flow type using solenoid valve, flow control valve or consists of sol-sol type using two solenoid valve. In this paper, the hydraulic system in ABS is composed of sol type using a 3port-2position solenoid valve, and vehicle system is composed of 1/4 vehicle model. And slip ratio is controlled using PWM (Pulse-Width-Modulation) control algorithm. Braking friction coefficient and tracking friction coefficient which are described by slip ratio's function have maximum value when slip ratio has its value from 0.1 to 0.3. And slip ratio is controlled constantly in this boundary value even in the variation of road's condition in some boundary.
-
The cone-type AMB system consists of only 4 couples of magnets, and it can be smaller and lighter than radial-type AMB system. In this paper, the equations of motion on the cone-type AMB system are derived first, and the digital PID controllers are designed for its vibration control. The controllers are designed based on the decoupled equations of motion, and the performance of the designed controller is evaluated through its real system experiment. The results of the experiment show good performance of the controllers.
-
It is almost impossible to have a straight web for processing in the continuous process systems. The cambered web usually causes the strip walking and damage during process. It is necessary to identify the lateral dynamics of the cambered web for the precise control of lateral behavior. In this paper, a dynamic model of the lateral behavior for a cambered web is developed by introducing the concept of steering angle equivalent to moment caused by the camber. This model can be extended to include terms associated with moment, induced by roller's tilting, web slippage, and shear force, etc. Using this model, a new feed-forward controller is proposed to enable the on-line camber estimation, which is difficult to be measured directly, and the prediction of lateral deflection caused by camber. Computer simulation study shows that the proposed controller successfully eliminates the effect of camber and has better control performance than that of the existing PID controller.
-
This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using
$H_{inf}$ and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by$H_{inf}$ method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system. An Adaptive Robust Control (ARC) technique is used to design a force controller such that it is robust against actuator uncertainties. Simulation results are given for both frequency and time domains to verify the effectiveness of the designed controllers. -
The paper presents a seam tracking controller of high speed rotating arc sensor developed by microprocessor based system. The seam tracking algorithm is based on the average current value at each interval region of four phase points on one rotating cycle. To remove the noise effect for the measured current, the area during one rotating cycle is separated into four regions of front, rear, left and right. The average values at each region are calculated, using the regional current values and a low pass filter incorporating the moving average and exponential smoothing methods is adopted.
-
This paper represents a relaxation matching algorithm based on global structure constraint satisfaction. Relaxation matching algorithm is a conventional approach to the matching problem. However, we confronted some problems such as null-matching and multi-matching problems by just using the relaxation matching technique. In order to solve the problems, in this paper, the matching problem is regarded as constraint satisfaction problem, and a relaxation matching algorithm is proposed based on global structure constraint satisfaction. The proposed algorithm is applied a landslide picture to show the effectiveness. When the algorithm is processed at landslide inspecting and monitoring system, motion parameters such as displacement area and its direction are computed. Once movement is recognized, displacements are estimated graphically with statistical amount in the image plane. Simulation has been done to prove the proposed algorithm by using time-sequence image of landslide inspection and monitoring system.
-
This paper investigates the control problem of evaporator superheat, i.e., the difference between the temperature of the refrigerant at the entrance region of an evaporator and that at the exit region, for multi-type air-conditioning/refrigeration systems. Mathematical equations describing the characteristics of compressor, condenser, evaporator, and electronic expansion valve are first derived. Then, the transfer functions from the current input of the electronic expansion valve to wall temperatures of evaporator tube at two-phase region and superheated region, respectively, are derived. The stability and performance of the closed loop system with a PI controller are analyzed by Nyquist stability criterion. Simulation results are provided.
-
PPM (Performance Prediction Methodology) developed by EPRI was introduced and applied to calculate the stem thrust of 3 and 4 inches flexible-wedge gate valves. The calculated stem thrusts of open and close strokes including cracking were compared with the results measured at in-situ differential pressure tests. The comparison has shown that PPM is an extremely conservative method to predict the minimum required stem thrust to operate motor-operated valves in a design basis accident condition of nuclear power plants.
-
This paper discusses the composition of the theory of reinforcement learning, which is applied in real-time learning, and evolutionary strategy, which proves its the superiority in the finding of the optimal solution at the off-line learning method. The individuals are reduced in order to learn the evolutionary strategy in real-time, and new method that guarantee the convergence of evolutionary mutations are proposed. It possible to control the control object varied as time changes. As the state value of the control object is generated, applied evolutionary strategy each sampling time because the learning process of an estimation, selection, mutation in real-time. These algorithms can be applied, the people who do not have knowledge about the technical tuning of dynamic systems could design the controller or problems in which the characteristics of the system dynamics are slightly varied as time changes. In the future, studies are needed on the proof of the theory through experiments and the characteristic considerations of the robustness against the outside disturbances.
-
In this study in order to confirm the algorithms that are suggested from paper (I) as the experimental result, as the applied results of the hydraulic servo system are very strong a non-linearity of the fluid in the computer simulation, the real-time adaptive learning control algorithms is validated. The evolutionary strategy has characteristics that are automatically. adjusted in search regions with natural competition among many individuals. The error that is generated from the dynamic system is applied to the mutation equation. Competitive individuals are reduced with automatic adjustments of the search region in accord with the error. In this paper, the individual parents and offspring can be reduced in order to apply evolutionary algorithms in real-time as the description of the paper (I). The possibility of a new approaching algorithm that is suggested from the computer simulation of the paper (I) would be proved as the verification of a real-time test and the consideration its influence from the actual experiment.
-
With the development of micro-technology, the demand for micro actuator is increasing. But, it is difficult to achieve high resolution and long travel range simultaneously with the conventional actuators. So, the noncontact surface actuator was proposed. This actuator can realize high dynamic range and the planar motion without complex cross-axis linear slides. This paper describes a magnetically suspended linear actuator for developing a non-contact surface actuator. The operating principle and the structure of the proposed linear actuator are similar to switched reluctance motor, but the proposed linear actuator utilizes normal force and propulsion force simultaneously. With this characteristic, the system can be simpler than other non-contact surface actuator.
-
This paper presents an investigation of a vehicle-to-vehicle distance control using a Hardware-in-the-Loop Simulation(HiLS) system. Since vehicle tests are costly and time consuming, how to establish a efficient and low cost development tool is an important issue. The HiLS system consists of a stepper motor, an electronic vacuum booster, a controller unit and two computers which are used to form real time simulation and to save vehicle parameters and signals of actuator through a CAN(Controller Area Network). Adoption of a CAN for communication is a trend in the automotive industry. Since this environment is the same as that of a real vehicle, a distance control logic verified in laboratory can be easily transfered to a test vehicle.
-
This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.
-
A new kind of piezoelectric actuation structure named double amplified multilayer actuator is proposed. Double amplified multilayer actuator combines both dimentional and flextensional amplification concepts. As a result the displacement of the actuator can be more than one hundred times larger than the displacement of multilayer actuator and can be used in in-pipe locomation robot such as an endoscope actuator. This paper studied the dependence of displacement on actuator parameters theoretically and experimentally.