• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.

• Proceedings of the KSME Conference
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• 2001.11b
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• pp.353-358
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• 2001

Turbo-charging or Super-charging has been used to boost engine power for Gasoline Engine and Diesel Engine came to the world at the beginning of $20^{th}$ century. So far Turbo-Charger has enjoyed a high reputation in the charging filed for its technical advantages such as no demand of operation power from engine and an excellent charging effect in the event of a static operation at mid- and high engine speed. A mechanically driven Super-Charger, however, is now emerging in order to meet demands of the age of speed such as high engine power for a quick change of the driving mode - high engine torque even at low engine speed. Since Super-Charger needs driving power from engine, it cannot improve its relatively higher fuel consumption against that of Turbo-Charger. This negative point is still an obstacle to the wide use of Super-Charger. Super-Charger using Screw-type compressor which has already had a considerable base in air compressor market will fulfill this purpose of improving fuel consumption by minimizing operation power owing to no charging at idling or partially loading driving. This study aims to develop power control concept to achieve this minimization of operation power.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.1
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• pp.95-100
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• 2005

Making the best use of the features of the electro-rheological(ER) valve, a two-port pressure control valve using ER fluids is proposed and manufactured. The ER-Valve characteristics are evaluated by changing the intensity of the electric field and the number of electrode. In addition, the performance of the plate type ER-Valve is investigated by change the particle concentration of the ER fluid. As only with electrical signal change to the ER-Valve in which ER fluid flowing, ER fluid flow is controlled, so development of simple ER-Valves have been tried. The ER-Valves and pressure drop check method are considered to be applied to the fluid power control system. Using the minかnぉd pressure control valve, a one-link manipulator with FHA in robot system is driven. As a result, it is experimentally confirmed that the pressure control valve using ER fluids is applicable to use in driving actuator. If it applies characteristics of the ER fluids, it will be able to apply in the control system fir the ER Valve which occurs from industrial controller(PLC).

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1153-1160
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• 2013

SMISMO valve configuration is now starting to draw attention of the researchers of the construction equipment industry to increase the fuel efficiency of their equipment like excavators and wheel-loaders. An open-loop control strategy for grading operation of hydraulic excavator systems using SMISMO valve configuration is investigated in this paper. Tabor's algorithm for 1 d.o.f. SMISMO system under the assumption of quasi-static operation is revealed as not adequate for multi d.o.f. system with large moment of inertia even though the motion of the system is slow. New parameters are proposed in this paper. It modifies Tabor's open-loop control strategy for the grading operation of hydraulic excavators using SMISMO valve configuration. A simulation-based parameter tuning method is also proposed. It uses GA (Genetic Algorithm) to find the best parameter values. Simulation study for a practical hydraulic excavator shows the validity of the proposed open-loop control strategy.

• Journal of Power System Engineering
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• v.13 no.5
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• pp.18-24
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• 2009

This paper shows the result of development about the revolution system of azimuth thruster which of power is less than 250kW for small ship. Advanced Azimuth revolution system can revolve propeller and rudder from 360 degree so that this system for vessel maneuvering can be excellent of propulsion effectively. Fluid power control system for azimuth thruster is designed with PID control system by using CEMTool/SIMTool program. And the actuator used for servo valve can control rudder angle, pressure and direction. The first, We had a test for the angle control of revolution system. The result of angle control confirmed that it has the good efficiency from experiment result of time input degree $30^{\circ}$, $90^{\circ}$ and $180^{\circ}$. The second, We had to a test for the pressure characteristic of hydraulic motor. As a result, We confirmed the maximum pressure 3.5MPa and steady state 0.7MPa nom experiment result of time input degree $30^{\circ}$. In this paper, it is identified the pressure characteristic of hydraulic motor and angle control for azimuth thruster by AMESim, and it has been confirmed the usefulness of AMEsim modeling was verified by comparison between AMESim simulation results and experiments results.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.48-48
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• 2010

소형 공조장치용 냉매 압축기 부품인 기계식 제어 밸브는 에어컨 컴프레서의 핵심부품이고 년간 수백만 개가 국내에 수입된다. 이를 국산화 하기 위하여 진공로 속에서의 브레이징 공정이 수반되는 외국제품의 제조공정을 탈피하여 진공 속에서 DC 프로젝션 용접을 수행하는 기법을 개발하였다. 실린더 형상의 캡과 케이스를 맞대고 그 사이에 박판을 삽입한 상태에서 butt welding 방식으로 진행되는 본 공정에서는, 생산성이 높고 서보가압 장치를 사용하여 soft touch 를 구현하므로 프로젝션이 손상되지 않은 상태에서 통전이 시작되고 2 단 가압 및 프로파일 가압이 가능하므로 링(ring)형상의 너깃이 축대칭으로 안정적으로 형성되기 때문에 실린더 내부의 밀봉성능이 우수함을 확인하였다. 진공로 속에서 본 가압장치를 설치하여 간편한 방법으로 실린더 내부의 진공상태를 유지할 수 있기 때문에 진공로 속에서의 브레이징 공정이 적용되는 외국제품보다 생산성이 월등함을 알 수 있다. 본 연구에서 개발된 링 프로젝션(ring projection) 용접기법은 초소형 및 소형 실린더 형상의 부품 내부를 진공으로 유지해야 하는 산업현장에서 당장 적용될 수 있는 혁신적인 용접공정이라 판단된다.

• Journal of Drive and Control
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• v.12 no.4
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• pp.28-34
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• 2015

Because heavy-duty construction vehicles such as excavators are required for good engine-room cooling capacity, a hydraulic gear motor is adopted in the cooling fan drive mechanism to actively control the output speed, instead of adopting the conventional ON/OFF type belt drive. While gear motors are normally limited to 140bars of operating pressure, those for the cooling fan are capable of operating at continuous pressures of up to 220bars. After assembly, all gear motors for high pressure must pass an aging test which is a kind of the wearing process between the gear teeth and motor housing. During the aging process with gradual pressure increments, gear sticking sometimes occurs due to abnormal wear, resulting in defects. This paper focuses on a gear-sticking free aging test controller that is designed together with the knowledge of an experienced operator and the analysis results of experimental data of the gear jamming phenomenon. From the aging experiment, it is demonstrated that the developed controller that can alter the setting pressure of the load pump is effective for stabilizing the abrupt increase in the motor input pressure, thus preventing the hydraulic motor from stopping. This is expected to be helpful for the reduction of defects and increase in productivity.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.3
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• pp.458-464
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• 2002

Recently, many researches have been performed to improve performances of the combustion and emission in the D.I.Diesel engine. Especially reduction of the soot formation in tole combustion chamber is the essential to acquire the improvement of the emission performance. These emission of the diesel combustion is effected by the characteristics of air-fuel mixing. Thus, in this study, the distribution of soot in the diesel combustion is measured by LII(laser induced incandescence) and LIS(Laser induced scattering) method. From this experimental results, it is confirmed that the swirl flow intensified by SCV(swirl control valve) is effective on the reduction of soot in the combustion chamber.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.12
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• pp.1655-1662
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• 2002

Recently, many researches have been performed to improve the performance of the combustion and emission in a D.I.Diesel engine. And many new techniques have been introduced and developed to reduce NO$_{x}$ and soot exhausted from diesel combustion. Some of these methods have the peculiar injection timing which is not used to traditional timing. To optimize these injection timing, characteristics of swirl flow and interaction of swirl with injection in the diesel engine should be investigated more carefully. Therefore, in this study, 2-zone energy method is adopted for the understanding of swirl flow in condition of moving piston, and then flame visualizations and image process are performed. From these studies, the characteristics of the swirl flow generated by SCV was investigated and the effect of swirl on injection timing was elucidated. As the results, velocity distribution caused by swirl flow increase the space utilization rate of flame plums. And flame plums of weak momentum are remained inside of combustion chamber by the swirl flow.w.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.08a
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• pp.16-16
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• 2010

반도체 및 LCD 공정이 진행되는 진공 챔버는 유량계, 진공 펌프 및 밸브 등을 이용하여 적절한 공정용 기체와 압력을 제어하게 된다. 공정에 따라 매우 높은 온도를 유지해야 하는 경우도 있다. 챔버 내부의 압력은 유입되는 기체의 시간에 따른 유량 변화에 의하여 주기적으로 변화하게 된다. 이러한 유량 변화는 장기적으로는 결국 펌프의 신뢰성(내구수명)에 영향을 주게 되며, 특히 고유량 및 저유량을 반복하게 되는 공정에 있어서는 더욱 큰 영향을 미치게 된다. 또한 챔버 내부는 다양한 화학적 반응이 일어나며 이러한 공정 기체들의 높은 온도는 결국 챔버에 연결된 펌프의 성능 및 신뢰성에도 영향을 주게 된다. 대부분의 반도체 및 LCD 공정이 이루어지는 압력에서는 전도 및 대류의 열전달 형태보다는 열복사에 의한 영향을 받게 되어 챔버를 적절히 설계한다면 펌프에 직접적으로 전달되는 복사량은 상대적으로 낮고, 펌프에 미치는 영향도 크지 않게 된다. 그러나 압력의 변화에 따라 전도 및 대류의 영향이 커지게 되는 경우에는 펌프 자체 및 성능에 큰 영향을 주게 될 것이다. 터보형 펌프의 국내(KS) 및 국제규격(ISO)의 성능시험방법에는 이러한 온도에 따른 펌프의 성능 특성 변화를 다루고 있지 않으며, 크라이오 펌프인 경우 열복사의 영향에 대한 시험방법이 일부 공개되어 있다[J. Vac. Sci. Technol. A 17(5)]. 본 연구에서는 기체의 유량 및 온도 변화에 따른 진공 펌프의 성능 특성 변화를 고찰하고자 하며, 향후 이러한 시험방법에 대한 표준 절차를 확립하고자 한다.