• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.7 s.166
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• pp.1231-1237
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• 1999

Applying the conjugate contact condition, contact lines of a cylindrical worm gear has been calculated. The characteristics of tooth contact were analyzed and the pitting resistance were also assessed. It has been verified that: i) the length of contact is shortest on the 1st tooth of the front region, ii) the contact region is more narrow in the recess side than in the access side, iii) the contact region is more narrow in worm than in worm wheel. Hence, the pitting resistance is weakest in the recess side of the 1st contacting worm tooth.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.122-130
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• 2001

In order to improve the efficiency of the design process and the quality of the resulting design, this study proposes a design method for determining design variables of an automotive wheel-bearing unit of double-row angular-contact ball bearing type by using a genetic algorithm. The desired performance of the wheel-bearing unit is to maximize system life while satisfying geometrical and operational constraints without enlarging mounting spae. The use of gradient-based optimization methods for the design of the unit is restricted because this design problem is characterized by the presence of discrete design variables such as the number of balls and standard ball diameter. Therefore, the design problem of rolling element bearings is a constrained discrete optimization problem. A genetic algorithm using real coding and dynamic mutation rate is used to efficiently find the optimum discrete design values. To effectively deal with the design constraints, a ranking method is suggested for constructing a fitness function in the genetic algorithm. A computer program is developed and applied to the design of a real wheel-bearing unit model to evaluate the proposed design method. Optimum design results demonstrate the effectiveness of the design method suggested in this study by showing that the system life of an optimally designed wheel-bearing unit is enhanced in comparison with that of the current design without any constraint violations.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.1
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• pp.18-26
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• 1997

Grinding burn formed on the ground surface is related to the maximum temperature of workpiece surface and wheel tempertaure in the grinding process. The thermal characteristics of workpiece and grinding conditions on the surface tempertaure of the oxidation growing layer after get out of contact with the grinding wheel. The assumption used in grinding power signatures leads to the local temperature distribution between grinding wheel and workpiece, i.e., a single curve determines temperatures anywhere within the grinding wheel at anytime. This information is useful in the study of the grinding burn penetration into the wheel and thus provides an presentation of grinding trouble monitoring for the burning. On the basis of grinding power signatures in the wheel, thermally optimum grinding conditions are defined and controlled. To cope with grinding burn, the use of grinding power signatures is an effective monitoring systems when occurring the grinding process. In this paper, the identified parameters suggested in this study which are derived from the grinding power signatures are presented, and prediction model by grinding power utilized a linear regression algorithm is applied.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.328-335
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• 2005

For high speed railway vehicles, we consider a vibration of flexible track/wheel system. It is very important to deal with the complex phenomena of high-speed vehicles that can be occurred in the vertical vibration of the system. From a viewpoint of multibody dynamics, this kind of problem needs accurate analysis because the system includes mutual dynamic behaviors of rigid body and flexible body. The simulation technique for the complex problems is also discussed. We consider the high-speed translation, rail elasticity, elastic supports under the rail and contact rigidity. Eigen value analysis is also completed to verify the mechanism of the coupled vertical vibration of the system.

• Structural Engineering and Mechanics
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• v.62 no.2
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• pp.179-196
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• 2017

The paper focuses on dynamic analyses of a series of simply-supported symmetric composite steel-concrete bridges loaded by an ICE-3 train moving at high speeds up to 300 km/h. The series includes five bridges with span lengths ranging from 15 m to 27 m, with repeatable geometry of the superstructures. The objects, designed according to Polish standards valid from 1980s to 2010, are modelled on the bridges serviced on the Central Main Line in Poland since 1980s. The advanced, two-dimensional, physically nonlinear model of the bridge-track structure-high-speed train system takes into account unilateral nonlinear wheel-rail contact according to Hertz's theory and random vertical track irregularities equal for both rails. The analyses are focused on the influence of random track irregularities on dynamic response of composite steel-concrete bridges loaded by an ICE-3 train. It has been pointed out that certain restrictions on the train speed and on vertical track irregularities should be imposed.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.788-790
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• 1993

In the train position defection for the rail car, which is not able to obtain the short circuit between the track circuit and the wheel, the methods by the inductive radio of non-contact type are applicated. It is represented the principles and the methods of the inductive radio train detection on MLU, Transrapid, HSST, M-Bahn, and People Mover for MAGLEV, on Kobe system for the rubber-tired vehicle, and on ICE for wheel-on-rail.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.6
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• pp.706-713
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• 1985

It is clear that when the amplitude of grinding chatter increases enough the contact between grinding wheel and workpiece cannot be sustained and the loss of contact occurs during a period of grinding chatter. In this paper the behavior of nonlinear grinding chatter due to the loss of contact has been studied. A nonlinear grinding chatter loop is developed where the loss of contact is considered as a nonlinear element of asymmetrical gain. The analysis is carried out in the time domain by numerical simulation and also in the complex domain by use of describing function method. The results show that two typical patterns of nonlinear grinding chatter can originate from the nonlinearity. One is an irregular chatter frequency at starting stage decreases to the natural frequency of grinding structure while the chatter amplitude increases and decreases repeatedly. The other is a limit cycle chatter of which the amplitude and frequency converge to constant and remain. This nonlinear behavior of grinding chatter has been well analyzed by the describing function method and confirmed by the numerical simulation.

• Computational Structural Engineering
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• v.22 no.2
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• pp.30-39
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.10a
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• pp.154-155
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• 2010