• Journal of international Conference on Electrical Machines and Systems
• /
• 제1권2호
• /
• pp.10-17
• /
• 2012

This paper presents an improved iron loss model, for the computation of the no load iron loss in the stator core of the in-wheel permanent magnet synchronous motors (PMSM), for the cases of with and without stator skew. 2-D analytical model is used for the computation of tooth and yoke flux densities of the in-wheel PMSM. The no load iron loss computed by the improved iron loss model, for the cases of with and without skew is compared with the finite element method (FEM) and the results show good consistency.

• Bulletin of the Korean Chemical Society
• /
• 제25권11호
• /
• pp.1641-1644
• /
• 2004

Several [2]- and [3]rotaxanes bearing some functional groups on their wheel components and spacers with different lengths between two ammonium centers on their dumbbell components were prepared in good yields from dibenzo-24-crown-8-ether derivatives and dumbbell-shaped bis(sec-ammonium salt)s having a centrally located disulfide linkage, by utilizing the reversible thiol-disulfide interchange reaction. The shuttling behaviors of the [2]rotaxanes were investigated by $^1H$ NMR by use of the spin polarization transfer-selective inversion recovery technique. It was found that the change in spacer length in the axle resulted in a drastic change in shuttling rate of the [2]rotaxanes, although the introduction of the functional groups to the wheels did not affect the shuttling behavior at all.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1113-1114
• /
• 1996

We describe an algorithm to control an autonomous guided vehicle with 2-diagonal driving wheels, which navigates in the clean room.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.166-171
• /
• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• 한국도로학회논문집
• /
• 제5권2호
• /
• pp.15-24
• /
• 2003

방수시스템(WPS)의 성능은 재료 인자들의 복잡한 상호작용, 설계상세, 그리고 시공의 질에 따라 영향을 받고, 주로 인장접착강도(TAS)로 측정되는 교면과의 접착성에 의해 결정되는 것으로 알려져 있다. 따라서 본 연구는 현재 국내에 유통되고 있는 교면방수재 8종의 WPS의 성능을 아스팔트 포장층 혼합물의 종류, 시공시 혼합물의 온도, 포장층의 두께, 반복주행시험에 따른 접착특성을 중심으로 인장접착특성을 비교하였다. 또한 TAS 시험 후 계면에서의 탈리상태를 조사하였다. WPS에 대한 TAS 시험결과 SMA 혼합물이 밀입도 혼합물 보다 TAS가 크게 나타나 아스팔트 혼합물 종류에 따라서 차이가 났다. 시트식 방수재는 아스팔트 혼합물의 종류에 상관없이 시공온도가 높은 것이 접착력이 더 크게 나타났으나 도막식에서는 방수재 계열별로 다소 차이가 있고 시트식과 같지 않은 것으로 나타났다. 포장층 두께에 따른 영향은 방수재 종류에 상관없이 대동소이한 것으로 나타났다. 반복주행시험에 따라서 시트식에서의 접착력은 하중 재하지점>하중재하 않은 곳>하중 재하지점 옆 부근의 순서로 나타났고, 도막식에서는 방수재 종류에 따라 다르게 나타났다. 또한 방수재의 종류 및 특성에 따라 방수시스템 계면에서의 탈리상태가 다르다는 것을 알 수 있었다.

• 한국컴퓨터정보학회논문지
• /
• 제19권3호
• /
• pp.11-16
• /
• 2014

본 논문은 예측제어기를 이용하여 2휠 로봇의 실시간 균형을 유지할 수 있는 자세 제어에 대해 연구하였다. 또한 역방향 진자 제어는 로봇이 진행하는 동안 균형을 유지하기 위하여 도입되었다. 본 논문에서 구현에 사용한 프로세서는 dsPIC30F4013 임베디드 프로세서이며 자체 균형 알고리즘을 설계하고 구현 하는 것이다. 본 연구에서 ARS는 2축의 자이로 각(roll, pitch)과 3축의 가속도계 값(x, y, z)값으로 자세를 계산하도록 하였다. 따라서 본 연구에서는 외란에 대한 자세의 불균형을 극복하기 위한 예측제어기를 제안했으며 이를 원격 시스템의 제어문제에 도입하여 2바퀴 로봇의 선형 제어기와 예측제어기를 결합한 시스템의 시뮬레이션을 수행하였다. 또한 강인한 특성을 실현하기 위해 목표 필터루프를 설계하고 강인도-안정성을 만족하는 제어기를 설계하므로 제어시스템의 안정성을 향상시키고 시스템의 성능의 저하를 최소화함을 확인하였다.

• Journal of Magnetics
• /
• 제2권1호
• /
• pp.1-6
• /
• 1997

The magnetic and magnetostrictive properties of melt-spun ribbons of the alloys (R0.33Fe0.67)1-xBx (R=Tb0.3Dy0.7 and 0$\leq$x$\leq$0.06) are ivestigated as a function of wheel speed during melt-quenching. The saturation magnetiation of the alloys with a crystalline phase ranges from 70 to 80 emu/g and does not vary substantially with the B content. The saturation magnetization of an amorphous phase, which is formed at the condition of thigh wheel speed and high B content, is reduced significantly, however. The coercive force is minimum at x= 0.02 and increases monotonously with the further increase of B content when the microstructure mainly consists of a crystalline phase, but again it is reduced significantly by the formation of an amorphous phase. The low field sensitivity of magnetostriction with magnetic field is found to be good for the alloys with x$\leq$0.04 over a wide range of wheel speed. This magnetostrictive behavior is in contrast with that observed previously for Dy-Fe and Tb-Fe based alloys and is thought to be due to low intrinsic magnetocrystalline anisotropy of the compound.

• 항공우주기술
• /
• 제7권2호
• /
• pp.88-94
• /
• 2008

본 연구에서는 통신해양기상위성 형상을 갖고 훨모멘텀 제어를 위해 추력기를 사용할 때 발생되는 3축 궤도병진 운동에 관하여 분석하였다. 또한, 통신해양기상위성은 롤/요 훨모멘텀 제어를 위해 사용되는 추력기의 성능 감소를 균일하게 하기 위해 주기적으로 조합군을 변경하도록 설계하였기 때문에 조합군 변경시에 발생되는 3축 궤도병진 속도 차이가 발생하게 된다. 따라서 본 연구에서는 COMS 추력기 조합군 변경시 발생되는 3축 궤도병진 속도를 최적화하였다.

• 소음진동
• /
• 제10권2호
• /
• pp.247-253
• /
• 2000

The evaluation of the ride quality had been performed by the subjective method before ISO2631(International Organization for Stadard 2631) and BS6841(British Standard 6841) was precented, but many research programs have been performed by the objective method after that. On this study, the ride quality was evaluated related with the objective method which considered the vibration which the human body feels on the driver's seat while driving on the road. In particular, we made the shock absorber nonlinear model and also selected the suitable shock absorber in the part of the vibration which the human body feels into the simulation. The shock absorber of suspension was dealt with 3 cases respectively with the front wheel and rear wheel. The vibration of the car driving on the road can be transferred to the wheel, the suspension, the vehicle body, the seat and the human body. The signal which was gained from the seat(hip) and the floor(foot) of the human body was changed to the vibration signal which the human body felt through using the frequency weighting function. And then the performance of the shock absorber was calculated through the statistic processing.

• 해양환경안전학회지
• /
• 제22권3호
• /
• pp.296-303
• /
• 2016

In this paper, a numerical experiment on a tidal turbine was performed based on a water wheel design using the commercial CFD code ANSYS-CFX to contribute to the development of water wheels. The water wheel type tidal turbine was studied with different numbers of rotor blades (including ten, twelve and twenty blades types) and with different blade shapes (Straight, Curved and Zuppinger types) for comparison at several values of tip speed ratio (TSR) ranging from 0.7 to 1.2. The numerical results indicated that the 10-bladed type and the Straight-bladed type turbines absorb the highest power efficiency, up to 43 % at TSR 0.9. In addition, the 20-bladed and the Curved-bladed types showed the lowest performances in all cases of TSRs comparing with the others. Besides that, it was found that this turbine operates much effectively at low range of TSR, especially at TSRs 0.9 and 1 for all cases of blade shapes and all numbers of blades.