• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.495-500
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• 2013

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.8
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• pp.1951-1962
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• 1993

The creation process of a typical machined surface is treated here as a dynamic system. An investigation is carried out to establish a relationship between the characteristics of cutting force fluctuations that cause vibration response of the tool-workpiece system and the formation of surface in face cutting by sintered carbide cutting tool. Cutting force is measured and analyzed in frequency domain. The power spectral densities of cutting force give a useful information in surface generation and it can be used to find out the control factor of surface roughness. The terms, PSD ratio & Normalized spindle frequency PSD, are defined and when the value of power in spindle frequency is absolutely little but relatively large, it is obtained high accuracy surface roughness. The aim of this research is to find surface profile by measured and analyzed cutting force signals. The simulation of surface generation gives the comprechension of its mechanism and help to predict and control the surface quality. In this study, it is suggested what informations about surface generation can be acquired from the cuttuing force signal and an way of generating a better surface.

• Tribology and Lubricants
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• v.35 no.6
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• pp.350-355
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• 2019

Surface energy is an important factor in determining the performance of application components in terms of preventing adhesion failure between thin films. In this regard, numerous attempts have been made to acquire the desired surface energy through chemical treatment or by using micro/nanostructures. However, such approaches are expected to provide extreme values of surface energy, which may not be suitable in achieving the enhanced performance of applications. In this study, we propose a method to control surface energy by using bilayer metallic film heterostructures. We measure the water contact angle of incompatible (Ni/Ag) and compatible (Zn/Ag) metal pairs under several experimental factors, including thickness, time, and temperature. Furthermore, we conduct Auger electron spectroscopy measurements to investigate the atomic concentration with respect to depth after the change in the water contact angle. The experimental results reveal that three parameters, namely, compatibility, film thickness, and environmental temperature, are major factors in controlling the water contact angle. Thus, we experimentally demonstrate that controlling these three parameters can provide the approximate desired water contact angle. This result is expected to aid in the performance enhancement of a wide range of application components, where control of surface energy is required.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.612-615
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• 1996

In the continuous casting process, molten metal contacts the mold wall and the molten metal surface is subject to the mold oscillation. The mold oscillation results in the oscillation marks on the surface of solidified steel, which has undesirable effects on the quality of slabs. In order to reduce the oscillation marks by achieving soft contact of molten metal with the mold surface, alternating magnetic field is applied to the surface of molten metal. However, if the magnetic field strength becomes too strong, the melt flow induced by the magnetic field. causes the instability of the molten metal surface, which has also the bad influence on the slab quality. Therefore, it is very important to choose the optimal position of the inductor coil and the optimal level of electric power to minimize the surface defects. In the present work, as a first step toward the optimization problem of the process, numerical studies are performed to investigate the effects of coil position and the electric power level on the meniscus shape and the flow field. As numerical tools, the boundary integral equation method(BIEM) is used for the magnetic field analysis and the finite difference method (FDM) with orthogonal grid generation is used for the flow analysis.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.23-30
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• 2008

As a basic machining process, turning is a widely used machining process in which a single-point cutting tool removes material from the surface of a rotating material. A common method of evaluating machining performance is to measure the surface roughness. In a turning operation, it is important to select cutting conditions for achieving high cutting performance. As a rule, cutting conditions can be classified into feed rate, depth of cut and insert radius. While cutting process even though cutting conditions are optimized, the average roughness can be deterioration due to wear of the cutting tool edge. In this study, the aim is to maintain the average roughness even though the cutting condition is irregularly changing within the predictable range due to the working environment. First, the surface roughness model influenced by cutting conditions is constructed based on the experimental results in a turning operation, Second, applying the sliding mode control theory to the turning operation model which is composed of the surface roughness model and the motor transfer function, the surface roughness is closed to the desired value. Finally, the effectiveness of this approach is demonstrated through the computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.389-396
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• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• Composites Research
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• v.36 no.3
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• pp.211-216
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• 2023

When designing ships and aircraft structures, it is important to design them to satisfy weight reduction and strength. Currently, studies related to topology optimization using 3D printed composite materials are being actively conducted to satisfy the weight reduction and strength of the structure. In this study, structural analysis was performed to analyze the applicability of 3D printed composite materials to the flight control surface, one of the parts of an aircraft or unmanned aerial vehicle. The optimal topology shape of the flight control surface for the bending load was analyzed by considering three types (hexagonal, rectangular, triangular) of the topology shape of the flight control surface. In addition, the bending strength of the flight control surface was analyzed when four types of reinforcing materials (carbon fiber, glass fiber, high-strength high-temperature glass fiber, and kevlar) of the 3D printed composite material were applied. As a result of comparing the three-point bending test results with the finite element method results, it was confirmed that the flight control surface with hexagonal topology shape made of carbon fiber and Kevlar had excellent performance. And it is judged that the 3D printed composite can be sufficiently applied to the flight control surface.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.672-677
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• 2007

Recently, the new finite element method which uses NURBS as shape functions was proposed. It is very promising because it can directly use CAD data to describe geometry and discretize problem domain. In this case, CAE models are not approximated but represent exact geometry. So, it can contribute to more accurate results. In addition, it can greatly reduce CAE costs in that simulation models don't have to be made up independently. But in spite of these advantages, the method using NURBS have also some disadvantages. NURBS surface cannot be refined locally. T-splines are recently developed surface modeling technique. A T-spline surface is a NURBS surface with T-junctions and is defined by a control grid called T-mesh. The T-junctions enable T-spline surfaces to be refined locally. That is, it is possible to add a single control point to a T-spline control grid without propagating an entire row or column of control points and without altering the surface. In this research, the finite element analysis using T-splines is studied. In this analysis, CAD data are used directly for engineering analysis. Some problems with complex geometry are solved. And the results will be compared with ones of conventional FEM.

• Proceedings of the KIEE Conference
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• 2000.11c
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• pp.455-457
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• 2000

In this work the electrical characteristics of organic TFTs with the semiconductor-insulator interfaces, where the gate dielectrics were treated by the two methods which are the deposition of Octadecyltrichlorosilane (OTS) on the insulator and rubbing the insulator surface. Pentacene is used as an active semiconducting layer. The semiconductor layer of pentacene was thermally evaporated in vacuum at a pressure of about $2{\times}10^{-7}$ Torr and at a deposition rate of $0.3{\AA}/sec$. Aluminum and gold were used for the gate and source/drain electrodes. OTS is used as a self-alignment layer between $SiO_2$ and pentacene. The gate dielectric surface was rubbed before pentacene is deposited on the insulator. In order to confirm the changes of the surface morphology the atomic force microscopy (AFM) was utilized. The characteristics of the fabricated TFTs are measured to clarify the effects of the surface treatment.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.2
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• pp.181-191
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• 2014

PURPOSE: The purpose of this study was to investigate the effect of sensorimotor training in unstable surface on balance ability of elderly women. METHODS: Total of 40 subject were recruited from two separated institution for elderly women in Changwon and conveniently allocated into experimental and control groups. Twenty women were included into experimental group and another twenty women were into control group. Experimental group performed sensorimotor training in unstable surface and control group were only activities of daily living during eight weeks. To assess static balance ability used One leg stance test (OLST) and to assess dynamic balance ability used timed up and go test (TUGT) and Functional reach test (FRT). RESULTS: Control group did not show any difference in balance ability. However static balance ability in experimental group improved on hard or soft surface only eye open condition. Also dynamic balance ability in experimental group improved TUGT or FRT. CONCLUSION: Sensorimotor training in unstable surface improved balance ability of elderly women.