• Journal of Mechanical Science and Technology
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• 제19권9호
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• pp.1695-1705
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• 2005

Reaction wheels and thrusters are commonly used for the satellite attitude control. Since satellites frequently need fast maneuvers, the minimum time maneuvers have been extensively studied. When the speed of attitude maneuver is restricted due to the wheel torque capacity of low level, the combinational use of wheel and thruster is considered. In this paper, minimum time optimal control performances with reaction wheels and thrusters are studied. We first identify the features of the maneuvers of the satellite with reaction wheels only. It is shown that the time-optimal maneuver for the satellite with four reaction wheels in a pyramid configuration occurs on the fashion of single axis rotation. Pseudo control logic for reaction wheels is successfully adopted for smooth and chattering-free time-optimal maneuvers. Secondly, two different thrusting logics for satellite time-optimal attitude maneuver are compared with each other: constant time-sharing thrusting logic and varying time-sharing thrusting logic. The newly suggested varying time-sharing thrusting logic is found to reduce the maneuvering time dramatically. Finally, the hybrid control with reaction wheels and thrusters are considered. The simulation results show that the simultaneous actuation of reaction wheels and thrusters with varying time-sharing logic reduces the maneuvering time enormously. Spacecraft model is Korea Multi-Purpose Satellite (KOMPSAT)-2 which is being developed in Korea as an agile maneuvering satellite.

• Journal of Advanced Marine Engineering and Technology
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• 제38권2호
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• pp.217-224
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• 2014

We have developed the novel device that can extract energy from ocean waves utilizing the heaving motion of a floating mass. The major components of the energy converter are: a floater, a counterweight, a cable, a driving pulley, two idler pulleys, a ratchet, and a generator. The device generates power through the tension force in the cable and the weight difference between the floater and the counterweight. When the system is at static free condition, the tension in the cable is equal to the weight of the counterweight which is minimum. Therefore it is desirable to keep the counterweight lighter than the floater. However, experiments show that during the rise of the water level, the torque generated by weight of the counterweight is insufficient to rotate the driving pulley which causes the cable on the floater side to slack. The proposed application of the tension pulley rectifies these problems by preventing the cable from becoming slack when the water level rises. In this paper, the dynamics model is modified to incorporate the dynamics of the tension pulley. This has been achieved by first writing the dynamical equations for the tension pulley and the energy converter separately and combining them later. This paper investigates numerically the effect of the tension pulley on various physical quantities such as the cable tension, the floater displacement, and the floater velocity. Results obtained indicate that this application is successful in suppressing large fluctuations of the cable tension.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.44-48
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• 2007

In recent years, the size of plane substrates and semiconductor wafers has increased. As conventional contact transportation systems composed of, for example, carrier rollers, belt conveyers, and robot hands carry these longer and wider substrates, the increased weight results in increased potential for fracture. A noncontact transportation system is required to solve this problem. We propose a new noncontact transportation system combining acoustic viscous and aerostatic forces to provide damage-free transport. In this system, substrates are supported by aerostatic force and transported by acoustic viscous streaming induced by traveling wave deformation of a disk-type stator. A ring-type piezoelectric transducer bonded on the stator excites vibration. A stator with a high Q piezoelectric transducer can generate traveling vibrations with amplitude of $3.2{\mu}m$. Prior to constructing a carrying road for substrates, we clarified the basic properties of this technique and stator vibration characteristics experimentally. We constructed the experimental equipment using a rotational disk with a 95-mm diameter. Electric power was 70 W at an input voltage of 200 Vpp. A rotational torque of $8.5\times10^{-5}Nm$ was obtained when clearance between the stator and disk was $120{\mu}m$. Finally, we constructed a noncontact transport apparatus for polycrystalline silicon wafers $(150(W)\times150(L)\times0.3(t))$, producing a carrying speed of 59.2 mm/s at a clearance of 0.3 mm between the stator and wafer. The carrying force when four stators acted on the wafer was $2\times10^{-3}N$. Thus, the new noncontact transportation system was demonstrated to be effective.

• 한국정밀공학회지
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• 제29권2호
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• pp.129-138
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• 2012

In this study, three types of large scale multi-tasking machine tools together with core technologies involved have been developed and introduced; a multi-tasking machine tool for large scale marine engine crankshafts, a multi-tasking vertical lathe for windmill parts, and a large scale 5-axis machine tool of gantry type. Several special purpose devices has been necessarily developed for the purpose of handling and machining big and heavy workpieces accurately, such as PTD (Pin Turning Device) with revolving ring spindle for machining eccentric crankshaft pins, hydrostatic rotary table and steady rest for supporting and resting heavy workpieces, and 2-axis automatic swiveling head for high-quality free surface machining. Core technologies have been also developed and adopted on their detail design stage; 1) structural design optimization with FEM structural analysis, 2) theoretical hydrostatic analysis for the PTD and rotary table bearings, 3) box-in-box type cross-rail and octagonal ram design to secure machine rigidity and accuracy, 4) constant spindle rpm control against gravitational torque due to unbalanced workpiece.

• International Journal of Automotive Technology
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• 제6권2호
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• pp.183-190
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• 2005

During normal operating conditions, a motor vehicle is constantly subjected to a variety of forces, which can adversely affect its straight-ahead motion performance. These forces can originate both from external sources such as wind and road and from on-board sources such as tires, suspension, and chassis configuration. One of the effects of these disturbances is the phenomenon of vehicle lateral-drift during straight-ahead motion. This paper examines the effects of road crown, tires, and suspension on vehicle straight-ahead motion. The results of experimental studies into the effects of these on-board and external disturbances are extremely sensitive to small changes in test conditions and are therefore difficult to guarantee repeatability. This study was therefore conducted by means of computer simulation using a full vehicle model. The purpose of this paper is to gain further understanding of the straight-ahead maneuver from simulation results, some aspects of which may not be obtainable from experimental study. This paper also aims to clarify some of the disputable arguments on the theories of vehicle straight-ahead motion found in the literature. Tire residual aligning torque, road crown angle, scrub radius and caster angle in suspension geometry, were selected as the study variables. The effects of these variables on straight-ahead motion were evaluated from the straight-ahead motion simulation results during a 100m run in free control mode. Examination of vehicle behavior during straight-ahead motion under a fixed control mode was also carried out in order to evaluate the validity of several disputable arguments on vehicle pull theory, found in the literature. Finally, qualitative comparisons between the simulation results and the test results were made to support the validity of the simulation results.

• 전기학회논문지
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• 제66권2호
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• pp.315-322
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• 2017

This study presents a novel two­phase eight stator poles and six rotor poles (8/6) switched reluctance machine (SRM) that can compensate for the vibration and noise problems of two­phase 6/3 SRM and compare the characteristics of two SRMs. In the case of two­phase 6/3 SRM, the short flux path and the flux direction inside the stator are not reversed, so they have high efficiency characteristics. However, the use of three rotor poles causes problems of vibration and noise because the radial force applied to the rotor poles is not balance. The proposed two­phase 8/6 SRM has advantages of 6/3 SRM such as the flux­reversal­free stator and it can improve vibration and noise by using six rotor poles due to balanced radial force acting on the rotor poles. In order to make a reasonable comparison between two SRMs, the electromagnetic field structure of 8/6 SRM is designed to have equivalent torque characteristic to 6/3 SRM and then the copper loss and core loss are compared and analyzed. Finally, we compare the effieicney of two SRMs using finite element analysis and compare the distribution of radial force acting on the rotor poles based on Maxwell's stress method.

• 방사성폐기물학회지
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• 제10권1호
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• pp.37-43
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• 2012

IAEA 및 국내의 방사성물질 운반 관련 규정에 따라 중 저준위 방사성폐기물 드럼 8개를 운반할 수 있는 IP-2형 운반용기를 개발하였다. IP-2형 운반용기는 낙하시험 및 적층시험을 거친 후 내용물의 유실 또는 분산과 운반용기 외부표면에서의 방사선량률이 20 % 이상 증가할 수 있는 차폐능력의 상실이 없어야 한다. 본 연구의 목적은 적층시험조건에 대한 시험방법 및 절차를 수립하고 IP-2형 운반용기의 적층조건에 대한 구조적 건전성을 평가하는데 있다. 운반용기의 원형시험모델을 이용하여 운반용기 중량의 5배 하중으로 24시간 동안 압축하는 적층조건에 대한 시험 및 전산해석을 수행하였다. 적층시험 시 운반용기의 모서리기둥에서의 변형률 및 변위를 측정하였으며, 측정된 변형률 및 변위는 해석결과와 서로 일치하였다. 컨테이너 바닥부의 처짐량은 측정이 어렵기 때문에 전산해석 방법으로 구하였다. 모서리기둥의 최대 변위와 컨테이너 바닥의 최대 처짐은 법규에서 규정하는 허용치에 비하여 낮게 나타났다. 적층시험 전 후에는 운반용기의 외형치수, 차폐체 두께, 볼트토크 등을 측정하였으며, 그 값들을 비교분석한 결과 운반용기는 내용물의 유실 및 분산, 차폐체 두께의 감소가 나타나지 않았다. 따라서 적층시험조건에서 IP-2형 운반용기의 구조적 건전성이 입증되었다.

• Elastomers and Composites
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• 제36권1호
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• pp.44-51
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• 2001

카본블랙의 화학적 표면개질에 따른 영향을 조사하기 위해 3종류 화학약품(KOH, $H_3PO_4$, 벤젠)을 이용하여 카본블랙 표면을 처리하였으며, 이를 함유한 스티렌-부타디엔 고무(SBR)의 가황특성과 기계적 특성을 조사하였다. 산(HCB)이나 염기(KCB)로 표면 처리할 경우 표면 자유에너지의 증가가 관찰된 반면, 벤젠(BCB)의 경우 미세한 증가만이 관찰되었다. London 비극성 성분은 BCB가 가장 높았다. 각 표면처리 카본블랙을 함유한 SBR 컴파운드의 가황반응의 빠르기는 KCB-SBR>BCB-SBR>VCB- SBR(무처리)>HCB-SBR의 순으로 나타났다. 일반적으로 가교도를 나타내는 가황곡선상의 최대토오크와 최소토오크의 차이는 VCB-SBR, KCB-SBR, HCB-SBR에 비해 BCB-SBR이 높은 값을 나타내었다. BCB-SBR과 KCB-SBR의 경우 인장특성과 동적기계적 특성이 증진되었다. 표면자유에너지 중 London 비극성 요소와 기계적 특성간에는 비례관계가 있음이 확인되었다.

• KSTLE International Journal
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• 제7권2호
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• pp.27-34
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• 2006

Knudsen number is the ratio of molecular mean free path versus mm thickness and the criterion to determine the flow form. When its value is lower than 0.01, the flow can be assumed to has no slip boundary condition. And in the case that the value is between 0.01 and 10, then the flow has slip boundary condition at both the adjacent walls. The condition of the air flow between the rotating journal and top foil in the air foil bearing is determined by the rotating speed and load, and the Knudsen number is also varied by those values. Because the molecular mean free path is variable to the pressure and temperature, more exact formulation is necessary to understand and analyze the flow regime. In this study, the analysis considering Knudsen number formulated with those variables (pressure, temperature and mm thickness) was executed. The approximate value was examined using the equation to confirm whether the flow has the slip or no-slip boundary condition. From the analytic investigation, it was decided to range approximately 0.01 to 1.0 and the flow can be supposed to have the slip boundary condition. Under the condition of the slip flow, the static characteristics of the air foil bearing were examined using modified Reynolds equations. The results were compared with those considering no slip condition. It shows that the slip condition makes the flow decelerates and the load carrying capacity decreases compared with no slip condition. And as the bearing number and eccentricity ratio increase, the load carrying capacity also increased at both the cases. From this result, it can be supposed that the bearing torque also increases. In the analysis of the dynamic characteristics, the perturbed Knudsen number was taken into consideration. Because the Knudsen number is expressed as the terms of each variable, the perturbed equation can be simply derived. The results of both cases considering and not considering Knudsen number were compared each other. In the case of the direct terms of the stiffness and damping coefficients, the difference between both cases was little and increased as the bearing number and eccentricity ratio increased. And the cross terms have less or more differences.