• Elastomers and Composites
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• v.53 no.3
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• pp.158-167
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• 2018

In this study, in-situ trans-selective polymerization of isoprene was carried out using titanium-based Ziegler-Natta catalysts. The catalysts were prepared by high-energy ball milling. Individually Large-inner-diameter carbon nanotubes (CNTL), and hydroxylated carbon nanotubes (CNTOH), along with magnesium chloride ($MgCl_2$) were used as the carriers for the catalysts. The optimum ball-milling time for preparing the $CNT/MgCl_2/TiCl_4$ Ziegler-Natta catalysts was 4 h. The $CNTOH/MgCl_2/TiCl_4$ catalyst showed a higher efficiency than that of the $CNTL/MgCl_2/TiCl_4$ catalyst, based on the rate of polymerization. The effects of the CNT-filler type on the isoprene polymerization behaviors and polymer properties were investigated. The morphologies of the trans-1,4-polyisoprene (TPI)/CNT and TPI/CNTOH nanocomposites exhibited a tube-like shape, and the CNTL and CNTOH fillers were well dispersed in the TPI matrix. In addition, the thermal stability of TPI significantly increased upon the introduction of a small amount of both CNTL/CNTOH fillers (0.15 wt%), owing to the satisfactory dispersion of the CNTL/CNTOH in the TPI matrix.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.879-884
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• 2004

This paper describes the development of a synthetic multi-agent called KMITL Cadence 2003. KMITL Cadence 2003 is a robotic soccer simulation team consisting of eleven autonomous software agents. Each agent operates in a physical soccer simulation model called Robocup Soccer Server which provides fully distributed and real-time multi-agent system environment. All teammates have to cooperate to achieve the common goal of winning the game. The simulation models many aspects of the football field such as noise in ball movements, noisy sensors, unreliable communication channel between teammates and actuators, limited physical abilities and restricted communication. This paper addresses the algorithm to develop the soccer agents to perform basic actions which are scoring, passing ball and blocking the opponents effectively. The result of this development is satisfactory because the successful scoring attempts is increased from 11.1% to 33.3%, successful passing ball attempts is increased from 22.08% to 63.64%, and also, successful intercepting attempts is increased from 88% to 97.73%.

• Journal of IKEEE
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• v.22 no.1
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• pp.110-120
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• 2018

In this paper, we apply the input-output linearization technique to tracking the follow-up trajectory r(t) in the ball-beam system. There exist system disturbance and various uncertainties, the conventional input-output linearization based control yields some noticeable errors in tracking performance. As a result, a new robust control technique for the uncertainty of the system was proposed and its improved performance verified through simulation and experimental results. So, more realistic system model is obtained with unmatched uncertainties and disturbance. Then, in order to improve the control performance, a new optimal bang-bang control input is additionally added.

• Journal of Hydrogen and New Energy
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• v.10 no.1
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• pp.49-57
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• 1999

In order to study the effect of high energy ball milling on the $Mg_2Ni+Ni$, $Mg_2Ni+0.5Ni+0.5Al$ powders, we have investigated on the discharge properties, microstructures. The powder size of samples decreased as ball milling time. From the XRD results, the crystal structure of $Mg_2Ni+Ni$ mixed powders were changed to amorphous or nano-structure after 60hr ball milling. The discharge capacities of both $Mg_2Ni+Ni$ and $Mg_2Ni+0.5Ni+0.5Al$ powders increased, with increasing ballmilling time, the maximum capacity(342mAh/g) was shown for the 60 hrs ballmilled $Mg_2Ni+Ni$ sample. The capacity decreased drastically after a few charge-discharge cycles.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.2
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• pp.134-138
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• 2011

Fault detection for dynamic loading conditions of rotational machineries was considered from the contactless, non-destructive infrared thermographic method, rather than the traditional diagnosis method. In this paper, by applying a rotating deep-grooved ball bearing, passive thermographic experiment was performed as an alternative way proceeding the traditional fault monitoring. In addition, the thermographic experiments were compared with the vibration spectrum analysis to evaluate the efficiency of the proposed method. Based on the results, it was concluded the temperature characteristics of the ball bearing under dynamic loading conditions were analyzed thoroughly.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.778-781
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• 2002

Durability of rubber dust cover in the ball joint for automotive suspension parts were analyzed by FEM and compared with experimental data. Upper open area of ball joint is sealed by dust cover for preventing outflow of the lubricating oil and intrusion of send, dust, water, etc. This rubber cover undergoes repeated loadings such as tension and compression while the car is running. Analysis about rubber material needs to consider every kinds of nonlinearities arise in finite element analysis, which are geometric nonlinearity due to large displacement and small strain, materially nonlinearity and nonlinear boundary condition such as contact. So in the study, the deformation behavior of dust cover was analysed by using the commercial finite element program MARC. This program could solve these kinds of nonlinear analysis accurately. Finite element model of dust cover is considered as 3-dimensional half model based on 2-dimensional axisymmetric model. Material property of rubber was modeled by Ogden model and input data for calculation takes form uniaxial tension test of rubber specimen, The final object of the study is obtaining the design specification of dust covers and the result of analysis should be a useful data to design of rubber

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of the Korean Institute of Navigation
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• v.23 no.3
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.21 no.3
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• pp.217-221
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• 2008

In this study, We have been investigated the effect of calcination temperature and high-energy ball-milling of powder influences the $BaTiO_3$-based PTCR(Positive Temperature coefficient Resistance) characteristics and microstructure. The mixed powder was obtained from $BaCO_3$, $TiO_2$, $CeO_2$ ball-milled in attrition mill. The mixed powder was calcine from 1000 $^{\circ}C$ to 1200 $^{\circ}C$ in air and then it was sintered in reduction- re-oxidation atmosphere. As a result, The room-temperature electrical resistivity decreased and increased with increasing calcination temperature. specially, Attrition milled powder could have low room-temperature resistivity and high PTC jump order at 1100 $^{\circ}C$. attrition milling had lower room-temperature resistivity than ball milling. Particle size decreased by Attrition milling of powder influences in calcination temperature and room-temperature resistivity.

• Journal of Powder Materials
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• v.17 no.5
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• pp.404-408
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• 2010

The effects of high energy ball-milling (HEBM) on the sintering behavior and piezoelectric properties of 0.1 wt% $Li_2CO_3$ doped 0.8Pb($Mg_{1/3}Nb_{2/3}$)$O_3$-0.2Pb($Zr_{0.475}Ti_{0.525}$)$O_3$ (PMN-PZT) ceramics were investigated. It was found that HEBM treatment was quite effective to reduce the average particle size down to 300 nm, leading to increased density as well as enhanced piezoelectric properties of a sintered specimen even though prolonged HEBM resulted in unwanted secondary phases that caused a degradation of piezoelectric properties. The dielectric constant ($\varepsilon_r$), piezoelectric coupling factor ($k_p$) and piezoelectric constant $d_{33}$ of 0.1 wt% $Li_2CO_3$ doped PMN-PZT ceramics prepared via HEBM for 10 h reached 2040, 0.68 and 554 pC/N, respectively.