• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Korean Journal of Metals and Materials
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• v.50 no.1
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• pp.28-33
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• 2012

Ball-milled Ni-Al powder compacts have been synthesized by the heat of molten cast iron and have been coated on cast iron. The effects of the ball-milling time on the microstructure of the intermetallic coatings have been investigated. The experimental results showed that the ball-milled Ni-Al powder compacts were completely reacted and were successfully coated on the cast iron without re-melting the substrate. Densification of the coating layers was enhanced by increasing the ball-milling time. This might be attributed to the fact that the heat released during the intermetallic reaction was dispersed over a prolonged reaction time by the ball-milling of the elemental powders.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.628-634
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• 1995

In the area of assembly process of micro-chips and electronic parts on the printed circuit board, surface mounting device(SMD) is used as a fundamental tool. Generally speaking, the motion of the SMD is based on the ball screw system operated by any type of actuators. The ball screw system is a mechanical transformer which converts the mechanical rotational motion to the translational one. Also, this system could be considered as an efficient motion device against mechanical backash and friction. Therefore a dynamic modeling and stste sensitivity analysis of the ball screw system in SMD have to be done in the initial design stage. In this paper, a simple mathematical dynamic model for this system and the sensitivity snalysis are mentioned. Especially, the bond graph approach is used for graphical modeling of the dynamic system before analysis stage. And the direct differentiation method is used for the state sensitivity analysis of the system. Finally, some trends for the state variables with respect to the design variables could be suggested for the better design based on the results on the results of dynamic and state sensitivity.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.712-714
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• 1999

Ball-balancing control systems are ideal to demonstrate the design and hardware implementation Procedures of optimal controllers based on modern control theory. This paper presents the design of an $H_2$ optimal controller based on the generalized plant model of the ball-balancing system. The problem of balancing a metal ball on the midpoint of a beam is ultimately related to a regulating problem. So, the designed controller is correspond to this problem. The controller was experimented by DSP(digital signal processing) equipments and simulated by MATLAB. The performance of controller was verified through the experiments.

• Smart Structures and Systems
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• v.14 no.4
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• pp.643-658
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• 2014

This paper presents the design, modelling and, simulation and experimental results of a shape memory alloy (SMA) actuator based critical motion control application. Dynamic performance of SMA and its ability in replacing servo motor is studied for which the famous open loop unstable balancing ball and beam system direct driven by antagonistic SMA is designed and developed. Simulation uses the mathematical model of ball and beam structure derived from the first principles and model estimated for the SMA actuator by system identification. A PID based cascade control system consisting of two loops is designed and control of ball trajectory for various target positions with settling time as control parameter is verified experimentally. The results demonstrate the performance of SMA for a complicated i.e., under actuated, highly nonlinear unstable system, and thereby it's dynamic behaviour. Control strategies bring out the effectiveness of the actuator and its possible application to much more complex applications such as in aerospace control and robotics.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.72-81
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• 2017

We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results.

• Advances in Computational Design
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• v.5 no.1
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• pp.13-34
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• 2020

As small size and complex metal machining components demand increases, cutting processes in microscale become necessary. Ball-end milling is a commonly used finishing process, which nowadays can be applied in the microscale size. Surface quality and dimensional accuracy are two basic parameters that affect small size components in their assembly and functionality. Thus, good quality can be achieved by optimizing the cutting conditions of the procedure. This study presents a 3D simulation model of ball-end milling in microscale developed in a commercial CAD software and its optical and computing results. These carried out results are resumed to surface topomorphy, surface roughness, chip geometry and cutting forces calculations that arising during the cutting process. A great number of simulations were performed in a milling machine centre, applying the discretized kinematics of the procedure and the final results were compared with measurements of Al7075-T651 experiments.

• Journal of Broadcast Engineering
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• v.17 no.6
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• pp.1040-1047
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• 2012

In this paper, we propose a ball tracking algorithm robust against occlusion in broadcasting soccer video sequences. Soccer ball tracking is a challenging task due to occlusion, fast motion and fast direction changes. Many works have been proposed based on ball trajectory. However, this approach requires heavy computational complexity. We propose a ball tracking algorithm with occlusion handling capability. Initial ball location is calculated using the circular hough transform. Then, the ball is tracked using template matching. Occlusion is handled by matching score. In occlusion cases, we generate a set of ball candidates. The ball candidates which exist in the previous frame were removed. On the other hand, the new appearing candidate is determined as the ball. Experiments with several broadcasting soccer video sequences show that the proposed method efficiently handles the occlusion cases.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.339-349
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• 2004

The method for fatigue life prediction of ball bearing is proposed applying the algorithm of contact fatigue prediction based on stress analysis. In order to do this, a series of simulation such as initial surface stress analysis, EHL analysis, subsurface stress analysis and fatigue analysis are conducted from the loading at each ball location calculated for a bearing subjected to external bearing load and contact shape function. And uniaxial fatigue tests are performed to obtain fatigue parameter of AISI 52100 steel. It was found that since stress is usually higher at the inner raceway contact than at the outer raceway contact, fatigue failure occurs on the inner raceway first. When the fatigue life calculated in the stress-based method are compared with $L_{50}$ life of L-P model, Crossland criterion for the radial load increment is similar to $L_{50}$ life and Dang Van criterion for the axial load increment is similar. In the case of EHL contact. there is no difference of fatigue life between dry contact and EHL contact, when maximum Hertz pressure exceeds 2.5GPa.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.10 s.181
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• pp.2496-2501
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• 2000

High speed ball end milling is attracting interest in the aerospace industry for the machining of complex 31) airfoil surfaces in nickel based superalloys, Experimental work is detailed on the effect of cutter orientation on tool life, cutting forces, chip formation, specific force and workpiece surface roughness, when high speed ball end milling nickel based supperalloy(lnconel 718). Dry cutting was performed using 8min diameter solid carbide cutters coated with either TiA1N or CrN for the workpiece mounted at an angle of 45˚ from the cutter axis. A horizontal downwards cutting orientation provided the best tool life with cut lengths~50% longer than for all other directions. Evaluation of cutting forces and associated spectrum analysis of results indicated that cutters employed in a horizontal downwards direction produced the least vibration.