• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.5
• /
• pp.551-557
• /
• 2014

This paper presents a robust lateral controller for autonomous guidance of a farm tractor in field operations. Although mechanical steering actuators have recently been used for passenger vehicles, the steering actuator of the farm tractor is based on a hydraulic system, resulting in limited bandwidth and a larger time delay. Based on a kinematic tractor model with steering actuator dynamics, a nonlinear control technique called dynamic surface control is applied to design a robust lateral controller that compensates for uncertainty owing to steering actuator and road geometry. Finally, tracking performance and robustness of the proposed controller are validated via commercial tractor simulations, with respect to the time delay of the steering actuator and road geometry (e.g., up and down hills), on a given field with a constant friction coefficient.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.11 no.4
• /
• pp.408-413
• /
• 2018

In this paper, the particle size, bulk density, friction coefficient and angle of repose were measured for the automatic processing of solar salt, which was classified with 5 levels of moisture content (16.5, 13.2, 8.2, 4.9, 3.7%). Average diameter was 1.98~1.60mm according to moisture content, and bulk density increased with increasing moisture content. As a result of measuring the coefficient of dynamic friction, the maximum value was shown in the stainless steel plate according to the material, and ABS plate and acrylic plate were lower in the order. Movement occurred at the moisture content of 8.2% or less, and the empty angle of repose was increased and the filling angle of repose was decreased as the moisture content increased.

• Journal of the Korean Geotechnical Society
• /
• v.39 no.12
• /
• pp.37-46
• /
• 2023

Dynamic soil properties are essential factors for predicting the detailed behavior of the ground. However, there are limitations to gathering soil samples and performing additional experiments. In this study, we used an artificial neural network (ANN) to predict dynamic soil properties based on static soil properties. The selected static soil properties were soil cohesion, internal friction angle, porosity, specific gravity, and uniaxial compressive strength, whereas the compressional and shear wave velocities were determined for the dynamic soil properties. The Levenberg-Marquardt and Bayesian regularization methods were used to enhance the reliability of the ANN results, and the reliability associated with each optimization method was compared. The accuracy of the ANN model was represented by the coefficient of determination, which was greater than 0.9 in the training and testing phases, indicating that the proposed ANN model exhibits high reliability. Further, the reliability of the output values was verified with new input data, and the results showed high accuracy.

• Journal of Biosystems Engineering
• /
• v.37 no.3
• /
• pp.155-165
• /
• 2012

This study was performed to offer the data for design of the seedling bed transfer equipment to make the automation of working process in a plant factory. The seedling bed transfer equipment pushing the seedling bed with bearing wheels on the rail for interconnecting each working process by a pneumatic cylinder was made and examined. The examined transfer force to push the seedling bed with a weight of 178.9 N by the pneumatic cylinder with length of 60 cm and section area of 5 $cm^2$ was measured by experiments. The examined transfer forces was compared with theoretical ones calculated by the theoretical formula derived from dynamic system analysis according to the number of the seedling bed and pushing speed of the pneumatic cylinder head at no load. The transfer function of the equipment with the input variable as the pushing speed $V_{h0}$(m/s) and the output variable as the transfer force f(t)(N) was represented as $F(s)=(V_{h0}/k)(s+B/M)/(s(s^2+Bs/M+1/(kM))$ where M(kg), k(m/N) and B(Ns/m) are the mass of the bed, the compression coefficient of the pneumatic cylinder and the dynamic friction coefficient between the seedling bed and the rail, respectively. The examined transfer force curves and the theoretical ones were represented similar wave forms as to use the theoretical formular to design the device for the seedling bed transfer. The condition of no vibration of the transfer force curve was $kB^2>4M$. The condition of transferring the bed by the repeatable impact and vibration force according to difference of transfer distance of the pneumatic cylinder head from that of the bed was as $Ce^{-\frac{3{\pi}D}{2\omega}}<-1$, where ${\omega}=\sqrt{\frac{1}{kM}-\frac{B^2}{4M^2}}$, $C=\{\frac{\frac{B}{2M}-\frac{1}{kB}}{\omega}\}$, $D=\frac{B}{2M}$. The examined mean peak transfer force represented 4 times of the stead state transfer force. Therefore it seemed that the transfer force of the pneumatic cylinder required for design of the push device was 4Bv where v is the pushing speed.

• Korean Journal of Agricultural Science
• /
• v.45 no.1
• /
• pp.120-127
• /
• 2018

The rural labor force has gradually been decreasing due to the decrement of the farm population and the increment of the aging population. To solve these problems, it is necessary to develop and study autonomous agricultural machinery. Therefore, analyzing the dynamic behavior of vehicles in an autonomous agricultural environment is important. Until now, most studies on agricultural machinery, especially on ground vehicle dynamics, have been done by field tests. However, these field test methods are time consuming and costly with seasonal restrictions. A research method that can replace existing field test methods by using simulations is needed. In this study, we did basic research analyzing the effect of the travelling speed of a tractor on tire slip using simulation software. A tractor simulation model was developed based on field conditions following a straight path. The simulation was done for three ranges of speed: 20 - 30 km/h (considered the normal travelling speed range), 6 - 8 km/h (considered the plow tillage speed range) and 2 - 4 km/h (considered the rotary tillage speed range). The results of the simulation show that the slip ratio and slip angle values tended to increase as the traveling speed range of the tractor decreased. From the simulation results, it can be concluded that at low tractor speeds, it becomes more difficult to control the vehicle path. In future research, simulations will be done with various work environments such as a curved path as well as with various friction coefficient conditions, and the simulation results will be experimentally verified by applying them to an agricultural tractor.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.3
• /
• pp.576-585
• /
• 2002

A three-dimensional Lagrangian explicit time-integration finite element code for analyzing the dynamic impact phenomena was developed. It uses four node tetrahedral elements. In order to consider the effects of strain rate hardening, strain hardening and thermal softening, which are frequently observed in high-velocity deformation phenomena, Johnson-Cook model is used as constitutive model. For more accurate and robust contact force computation, the defense node contact algorithm was adopted and implemented. In order to evaluate the performance of the newly developed three-dimensional hydrocode NET3D, numerical simulations of the oblique impact of mild steel plate by mild steel sphere were carried out. Ballistic limit about various oblique angle between 0 degree and 80 degree was estimated through a series of simulations with different initial velocities of sphere. Element eroding by equivalent plastic strain was applied to mild steel spheres and targets. Ballistic limits and fracture characteristics obtained from simulation were compared with experimental results conducted by Finnegan et al. From numerical studies, the following conclusions were reached. (1) Simulations could successfully reproduce the key features observed in experiment such as tensile failure termed "disking"at normal impacts and outwards bending of partially formed plus segments termed "hinge-mode"at oblique impacts. (2) Simulation results fur 60 degrees oblique impact at 0.70 km/s and 0.91 km/s were compared with experimental results and Eulerian hydrocode CTH simulation results. The Lagrangian code NET3D is superior to Eulerian code CTH in the computational accuracy. Agreement with the experimentally obtained final deformed cross-sections of the projectile is excellent. (3) Agreement with the experimental ballistic limit data, particularly at the high-obliquity impacts, is reasonably good. (4) The simulation result is not very sensitive to eroding condition but slightly influenced by friction coefficient.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.15 no.2
• /
• pp.126-134
• /
• 2007

Although there has been substantial research on the squeal noise for the automotive brake system, robust design issues with respect to control factors equivalent to design variables in optimization, noise factors due to system uncertainties, and signal factors designed to accommodate a user-adjustable setting still need to be addressed. For the purpose, the robust design applied to the disk brake system has been investigated by DOE (Design of Experiments) based Taguchi analysis with dynamic characteristics. The specific goal of this methodology is to identify a design with linear signal-response relationship, and variability minimization. The finite element models of the disk brake assembly have been constructed, and the squeal noise problems have been solved by complex eigenvalue analysis. As the practical robust design to reduce the brake squeal noise, material properties of pad, disk, and backplate, thickness and geometry of pad are selected as control factors, material properties of pad and disk, and the contact stiffness have been considered as noise factors, and friction coefficient between pad and disk is chosen as a signal factor. Through the DOE based robust design, the signal-to-noise ratio and the sensitivity for each orthogonal array experiment have been analyzed. Also, it has been proved that the proposed robust design is effective and adequate to reduce the brake squeal noise.

• Journal of the Korean Society of Safety
• /
• v.27 no.6
• /
• pp.78-83
• /
• 2012

In this study, some experimental results of the peroxide-degradation process of polypropylene(PP) in a co-rotating twin-screw extruder to produce controlled rheology polypropylene(CRPP) are presented. The peroxide was dicumyl peroxide(DCP) and the concentration of DCP was in the range 0-0.3 wt%. It was found that the rheological properties of PP change significantly during reactive extrusion. Melt flow index(MFI) increased with DCP concentration. Intrinsic viscosity decreases with increasing DCP concentration. From dynamic rheological data, number average molecular weight(Mn), weight average molecular weight(Mn) and molecular weight distribution(MWD) were calculated. Results indicated that Mw decreases and MWD becomes narrower with increasing peroxide concentration. Especially, particle size distribution of CRPP decreases with increasing DCP concentration by chemical powdering process, and anti-slip floor paint, CRPP(DCP 0.2 wt%) powder by 10phr was friction coefficient 2.15 ${\mu}$, abrasion resistance 511.18%.

• Advances in nano research
• /
• v.16 no.4
• /
• pp.325-340
• /
• 2024

There are several novel uses for dispersing many nanoparticles into a conventional fluid, including dynamic sealing, damping, heat dissipation, microfluidics, and more. Therefore, melting heat and mass transfer characteristics of a 3-D MHD Hybrid Nanofluid flow over a rotating disc with presenting dufour and soret effects are assessed numerically in this study. In this instance, we investigated both ferric sulfate and molybdenum disulfide as nanoparticles suspended within base fluid water. The governing partial differential equations are transformed into linked higher-order non-linear ordinary differential equations by the local similarity transformation. The collection of these deduced equations is then resolved using a Chebyshev spectral collocation-based algorithm built into the Mathematica software. To demonstrate how different instances of hybrid/ nanofluid are impacted by changes in temperature, velocity, and the distribution of nanoparticle concentration, examples of graphical and numerical data are given. For many values of the material parameters, the computational findings are shown. Simulations conducted for different physical parameters in the model show that adding hybrid nanoparticle to the fluid mixture increases heat transfer in comparison to simple nanofluids. It has been identified that hybrid nanoparticles, as opposed to single-type nanoparticles, need to be taken into consideration to create an effective thermal system. Furthermore, porosity lowers the velocities of simple and hybrid nanofluids in both cases. Additionally, results show that the drag force from skin friction causes the nanoparticle fluid to travel more slowly than the hybrid nanoparticle fluid. The findings also demonstrate that suction factors like magnetic and porosity parameters, as well as nanoparticles, raise the skin friction coefficient. Furthermore, It indicates that the outcomes from different flow scenarios correlate and are in strong agreement with the findings from the published literature. Bar chart depictions are altered by changes in flow rates. Moreover, the results confirm doctors' views to prescribe hybrid nanoparticle and particle nanoparticle contents for achalasia patients and also those who suffer from esophageal stricture and tumors. The results of this study can also be applied to the energy generated by the melting disc surface, which has a variety of industrial uses. These include, but are not limited to, the preparation of semiconductor materials, the solidification of magma, the melting of permafrost, and the refreezing of frozen land.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.20 no.5
• /
• pp.498-509
• /
• 2008

Reliability analyses of Level I, II and III for bearing capacity, overturning and sliding of quaywall are carried out to investigate their safety levels depending upon its failure modes, and sensitivity analyses of each design variable are performed to find their effects on safety levels of quaywall. Reliability indices was 1.416 for both level II and III for case study I, and with 2.201 and 1.880, respectively, for the case study II at the critical loading conditions. Thus we were able to know that Level II (FORM) approach is good enough to use in practical design. Generally, it was found that probabilities of failure of quaywall were higher for sliding and bearing capacity failure modes and lower for overturning failure mode. From sensitivity analyses, the most influential design variables to reliability index of quaywall were coefficient of friction, residual water pressure and resistance moment for the sliding, overturning and bearing capacity failure modes, respectively. Especially, the sensitivity of reliability index due to inertial force and dynamic water pressures, which include a large COV when earthquake occurs, did not change greatly.