• 한국산업융합학회 논문집
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• 제18권2호
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• pp.67-74
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• 2015

Two-wheeled driying mobild robots are precise controlled in terms of linear contol methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and heavy influence the overall driving performance. This study describes the nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the optimal control outperforms in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly conrtibutes to the driving performance and stability.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.69-76
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• 2014

This paper proposes a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 대한인간공학회지
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• 제29권2호
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• pp.249-255
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• 2010

The visibility evaluation is significant for the development of construction equipment. The visibility evaluation follows the standards of ISO 5006, ISO 14401-1, and ISO 14401-2. The evaluation contains the operator's visibility and the visibility of rear-view mirrors. The operator's visibility includes the visibility test which requires the recognition of the rectangular line surrounding the machine by one meter and the circle with a 12 meter radius. This study describes the two evaluation processes for the development of the wheel loader. The first process is the light bulb shadow test by using a prototype wheel loader. The second process is based on computer simulation in virtual space. The advantages and disadvantages of computer simulation process are investigated.

• 한국재료학회:학술대회논문집
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• 한국재료학회 2012년도 춘계학술발표대회
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• pp.105.2-105.2
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• 2012

타이타늄합금기지 복합재료(Ti-MMC)는 일반 철합금 혹은 철합금기지 복합재료에 비하여 내식성과 내마모성, 내열성, 강도 등이 우수하여, 고성능 가솔린자동차 부품 외에도 하이브리드 자동차 엔진 부품, 고온 압축기 및 터빈 휠 등 고온에서 사용되는 고속 회전품으로 응용가능성이 매우 크다. 그러나 아직까지도 타이타늄 원소재 가격이 높고 제조 공정의 어려움으로 인하여 실용화에 장애가 되고 있다. 이를 극복하기 위하여 최근에는 타이타늄기지 복합재료의 제조단가를 낮추는 동시에 기계적 성질을 개선하기 위한 다양한 연구들이 진행되고 있다. 본 연구에서는 고가의 HDH(Hydride-Dehydride) 공정에 의하여 제조된 타이타늄 분말 대신에 저가의 titanium hydride를 사용하여 반응생성 공정으로 제조단가가 낮은 복합재료를 제조하고자 하였다. 당 연구실에서 저비용합금으로 개발된 Ti-Al-Fe 계 타이타늄합금을 기지로 한 TiB 강화 복합재료를 제조하기 위하여 반응분말로 $TiB_2$를 사용하여 제조하였다. 강화상 분율에 따른 밀도변화와 제조 공정변수에 따른 소결특성과 기계적 특성 변화에 대하여 조사하였다.

• 천문학회보
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• 제37권2호
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• pp.171.2-171.2
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• 2012

위성 개발에서 추력기는 위성의 경사각 및 고도 등의 궤도 제어 용도 이외에 위성 동작 초기 혹은 비상 상황에서 안정적인 전력 공급을 위한 자세 제어용 구동기로 사용되어야 하므로 매우 높은 신뢰성을 필요로 한다. 국내의 실용위성을 위해 개발되어 사용되고 있는 출력기는 1 파운드의 작은 용량으로 위성 운영에 일부 제약을 주게 된다. 본 논문은 위성 운영에 있어 반드시 필요한 궤도 천이 절차와 관련하여 기존에 사용된 절차를 보완하기 위한 방법에 대해 기술한다. 기존에 개발된 위성에서는 궤도 조정을 위한 자세 변화에 추력기를 사용하였다. 그러나 위성의 무게가 커짐에 따라 자세 변환을 위한 시간이 오래 걸려 궤도 조정 효율이 떨어지는 요인이 되고 있다. 뿐만 아니라, 자세 변화 과정에서 벡터 방향의 추력으로 인해 원하지 않는 궤도 변화가 생기므로 정밀 궤도 결정에도 영향을 주게 된다. 최근에 개발된 위성의 경우, 위성의 기동 성능을 높이기 위해 고성능 반작용 휠을 사용하므로 이를 이용하여 궤도 천이 전에 자세 변화를 하도록 하고 있다. 이러한 방법을 적용한 결과, 정밀 궤도 결정에 도움이 될 뿐만 아니라 자세 변화로 인한 연료 소모를 줄이는 효과도 있어 위성의 수명 연장에 도움이 되는 것으로 확인되었다.

• 대한기계학회논문집A
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• 제24권2호
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• pp.431-437
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• 2000

In this paper, thermite and gas pressure weldings have been used to join rails in-track and analyzed as functions of hardness and wear characteristics. The wear rate of thermite welded rail is low compared with that of gas pressure welded rail, which is tested in a pin-on-disk wear tester. The hardness of thermite welded materials is relatively high and narrowly distributed between three zones; welded part, thermally affected zone, and base matrix. Wear of a welded rail may be a major factor in railroad maintenance costs and failures at the rail-rail huh joint.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.43-47
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• 2002

In this study, through the experimental results of grinding ratio, grinding force and surface roughness with the obtained wear amount of diamond wheel and ceramic material during the grinding process, the following conclusions could be found. In the case of $Si_3N_4$, the wear of diamond wheel is large while the grinding force is stable and the range of change in surface roughness is small. for the case of $AL_2O_3$ and $ZrO_3$, while the wear of diamond wheel is getting smaller, the grinding force is increasing but the value of surface roughness is decreasing. For grinding with the vitrified bond wheel, it seems that the self-sharpening can be found for $Si_3N_4$ and the glazing effect of the cutting edge for $AL_2O_3$ and $ZrO_3$.

• 융복합기술연구소 논문집
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• 제6권2호
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• pp.1-7
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• 2016

The rotating electrodynamic wheels can produce three-axial forces on the conductive target. The forces are linked strongly each other, and their magnitudes depend on the rotating speed of the wheel. However, the wheels can be used effectively as an actuating principle for transfer system of conductive material. The conductive material is a pipe with a constant cross-section or a conductive plate. In this paper, a few applications using the electrodynamic wheels as transferring means are introduced including the full description of the real hardware implementation.

• 한국정밀공학회지
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• 제22권8호
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• pp.100-107
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• 2005

The objective of the study is to improve the quality of wheel bearing hub by the rigid-plastic finite element analysis and the response surface methodology. The rigid-plastic finite element codes, AFDEX-2D and DEFORM-3D, were used to analyze the two-dimensional and three-dimensional forging processes, respectively. The response surface analysis is used to find the minimum underfill by the variation of design variables such as the height of billet after upsetting and punch angles of blocker dies. The metal flow of forged product shows good agreement with the results from 2D and 3D analysis. Also, the quality of the wheel bearing hub has been improved by the optimization of design variables and the machining time has been reduced by the machining allowance.

• 한국생산제조학회지
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• 제24권2호
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• pp.231-237
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• 2015

The pin-gear drive is a special form of fixed-axle gear mechanism. A large wheel with cylindrical pin teeth is called a pinwheel. As pinwheels are rounded, they have a simple structure, easy processing, low cost, and easy overhaul compared with general gears. They are also suitable for low-speed, heavy-duty mechanical transmission and for occasions with more dust, poor lubrication, etc. This paper introduces a novel slewing ring bearing with an external pinwheel gear set (e-PGS). First, we consider the exact cam pinion profile of the e-PGS with the introduction of a profile shift. Then, the contact stresses are investigated to determine the characteristics of the surface fatigue by varying the shape design parameters. The results show that the contact stresses of the e-PGS can be lowered significantly by increasing the profile shift coefficient.