• Transactions of Materials Processing
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• v.23 no.2
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• pp.116-121
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• 2014

Low pressure die casting and flow forming have been successfully used to produce sound road wheels from magnesium alloy AM80. In the current study, high speed compression testing was initially conducted to simulate the flow forming of a Mg wheel. Subsequently the flow forming was simulated with "Forge$^{TM}$", an FEM software package. On the basis of flow forming simulations, the flow forming of the Mg wheel was performed under different conditions. For the flow forming experiments, the preform castings were made by low pressure die casting from AM80, a commercial magnesium alloy. In flow forming of the magnesium preform wheel, the flow forming of the Mg wheel was successfully accomplished when the feed rate was less than half that for the forming of an aluminum road wheel. The reduction in feed rate was 52%. Finally, a comparison with the flow forming simulations was made.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.2
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• pp.61-70
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• 2012

This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• 한국초전도학회:학술대회논문집
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• v.9
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• pp.305-309
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• 1999

This paper presents an high efficiency energy conversion system for very high-speed flywheel energy storage system using high Tc superconducting bearings. Main configuration of power convertor is designed to replace of the conventional battery with EMB(Electro Mechanical Battery). PMSM(Permanent Magnet Synchronous Motor) using Halbach array is used as the energy conversion system of motor and generator. Some PWM methods for the high frequency inverter is described and the power factor effects to the torque characteristics and efficiency of the motor and generator is analyzed. As the results, it is verified that the inverter output current is well regulated to be in-phase or inverse-phase sinusoidal waveform to have the wide operational range from 2,500rpm to 42,000rpm. Proposed circuit is designed to obtain the very high speed, high efficiency and stable rotational characteristics, and to be applied to1.2r[kW]/65[Wh] system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.12
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• pp.890-896
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• 2019

Due to the eccentricity of the Earth's orbit around the Sun and the obliquity of the Earth rotation axis against ecliptic frame, the apparent solar time differs from the mean solar time. Since the solar array of a GEO satellite makes a turn in mean solar day, the Sun pointing error of solar array is introduced over the year due to the equation of time. In this paper, efficient methods of compensating the equation of time to keep the solar array pointing the Sun are presented and verified with realistic simulation.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.612-615
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• 2013

Hub BLDC(Brushless Direct Current) motor, called wheel-in motor is a outer rotor type high efficient direct driving motor which have a multi-pole permanent magnet type rotor as a driving wheel. This study shows a hub BLDC motor speed controller design methode using PIC micro controller to drive 2 wheels or 3 wheels driving body having hub motor driving shaft. The motor driver unit consists of six discrete MOSFET switching devices and the gate driving module is directly designed for high economy.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.6
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• pp.38-49
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• 1994

In this study, grindability of some representative engineering ceramics are experimentally investigated using resin bond diamond wheel with conventional surface grinding machine, and proper grinding conditions which can be obtained from various experimental results are established also for mechanical components which are proper to domestic circumstances with high reliability. And through the results of experiment, it is confirmed that grinding energies of the ceramics, especially in the case of $Al_2O_3$, are lower than steel with same machining condition in the conventional grinding because of their fine-brittle fracture mode type removal process, though the ceramics are well-known to unmachinable materials. And moreover, the total pass numbers needed for spark-out process to be completed are depend on their mechanical properties because that grinding stiffness is different from each other. The grinding force, ginding power and ground surface roughness are also measured and compared. Furthermore, the experiments carried out in this study, some useful results are obtained with can guide to grind engineering ceramics with conventional surface grinding machine.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.6
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• pp.1021-1027
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• 2006

Torque fluctuation of an engine and angular velocity variation of a propeller shaft are the main excitation sources in the vehicle driveline. This paper presents brief mechanism of these excitation sources. Equivalent models of these systems are construced to simulate the excitation source. The computer simulation was carried out by ARLA Simul v 6.7 and ARLA-Simstat v 2.3. Results of the simulations show the characteristics of torsional excitation source of the driveline. Experimental setups for engine system and propeller shaft system are constructed with component of the vehicle. Torque fluctuation of the flywheel and angular velocity of the propeller shaft were measured from this experimental setups. Experimental results are compared with simulation results. The results from experimental analysis agree with those from theoretical results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.2
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• pp.129-138
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• 2021

Due to the active progress in space programs for various types of ground and space missions, the high agile spacecraft maneuverability is also required. To meet the requirement of the given space missions, the Control Moment Gyros (CMG) for the alternatives of the classical reaction wheels can release the attitude maneuverability restrictions. In addition, the angular rates of the spacecraft is constrained due to the limited actuator characteristics. In this paper, a sliding mode control technique for the attitude control of the spacecraft equipped with the pyramid type of CSCMG(Constant Speed CMG) is designed, and the stability of the control system is guaranteed by using the Lyapunov stability theory. Finally, the control law proposed is analyized by numertical simulations.