• Journal of KSNVE
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• v.10 no.3
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• pp.451-456
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• 2000

In this paper a discrete time model for the identification of nonlinear vibration system with stick-slip friction is proposed. The proposed model can handle the highly nonlinear behavior of the friction such as stick-slip phenomenon and Stribeck effect. The basic idea of the proposed model is as follows : If the nonlinearity of the system can be predicted as a simple function then this nonlinear function term cab be directly used in the discrete time model. By doing this the number of nonlinear terms in the model can be much less than those of NARMAX model which is widely used nonlinear discrete model. The simulation result shows that the proposed model can estimate the response of the nonlinear vibration system with stick-slip friction very well with less computational effort.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.2
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• pp.247-254
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• 2003

The paper presents the influence of spring dynamics and friction on dynamic responses in a spring-driven cam system. The characteristics of the friction on the camshaft are analyzed using the nonlinear pendulum experiment while the parameters of the friction model are estimated using the optimization technique. The analysis reveals that the friction of the camshaft depends on stick-slip, Stribeck effect and viscous damping. Spring elements are found to have much influence on the dynamic characteristics. Hence, they are modeled as four-degree-of-freedom lumped masses with equivalent springs. The appropriateness of the derived friction model and spring model is verified by its application to a vacuum circuit breaker mechanism of the cam-follower type.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.3
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• pp.251-259
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• 2005

A discrete time model reference adaptive control has been applied in order to compensate the nonlinear friction characteristics in a hydraulic proportional position control system. As nonlinear friction, static and coulomb friction forces are considered and modeled as dead zone and external disturbance respectively. The model reference adaptive control system consists of a cascade combination of the dead zone. external disturbance and linear dynamic block. For adaptive control experiment. the DSP(Digital Signal Processor) board has been interfaced the hydraulic proportional position control system. The experimental results show that the MRAC(Model Reference Adaptive Control) for compensation of static and coulomb friction are very effective.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1849-1858
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• 2004

For examining friction-factor characteristics of round-hole pattern surfaces which are usually applied on damper seals, flat plate test apparatus is designed and fabricated. The measurement method of leakage and pressure distribution along round-hole pattern specimen with different hole area is described and a method for determining the Fanning friction factor is discussed. Results show that the round-hole pattern surfaces provide a much larger friction factor than smooth surface, and the friction factor vs. clearance behavior yields that the friction factor generally decreases as the clearance increases unlike the results of Nava's flat plate test. As the hole depth is decreased, the friction factor is increased, and maximum friction factor is obtained for 50% of hole area. Since the present experimental friction factor results show coincident characteristics with Moody's friction factor model, empirical friction factors for round-hole pattern surfaces are obtained by using the Moody's formula based on curve-fit of the experimental data. Results of Villasmil's 2D CFD simulation support the present experimental test result.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.190-196
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• 2020

Mechanical systems using tendon-driven actuators have been widely used for bionic robot arms because not only the tendon based actuating system enables the design of robot arm to be very efficient, but also the system is very similar to the mechanism of the human body's operation. The tendon-driven actuator, however, has a drawback caused by the friction force of the sheath. Controlling the system without considering the friction force between the sheath and the tendon could result in a failure to achieve the desired dynamic behaviors. In this study, a mathematical model was introduced to determine the friction force that is changed according to the geometrical pathway of the tendon-sheath, and the model parameters for the friction model were estimated by analyzing the data obtained from dedicated tests designed for evaluating the friction forces. Based on the results, it is possible to appropriately predict the friction force by using the information on the pathway of the tendon.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.1016-1021
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• 2004

The need for developing a mathematical model for pad-pivot friction in tilting pad proceeding bearings has been well-recognized, since previous experimental work about the performances of the bearings hypothesized that the friction in the bearings is closely related to their performances. Especially, the sliding friction between pad and pivot in the ball and socket type of the bearings can influence the performance of the bearing. We propose a mathematical model for pad-pivot friction in the ball and socket type, which considers the geometrics of the pad and pivot of the bearings, by assuming the sliding friction in the ball and socket bearing as Coulomb friction. By utilizing the proposed model for pad-pivot friction, we show the analysis of Reynolds equation and energy equation, which explain the thermo-hydrodynamic characteristics of tilting pad proceeding bearings, by taking into account the turbulence and inlet pressure building as well. The results of the study show that the performance of titling-pad proceeding bearings can be greatly influenced by the pad-pivot friction. In particular, we have shown that the analysis of the pad-pivot friction is useful to explain the static proceeding loci and the dynamic characteristics of the ball and socket type of the bearings. Furthermore, for a given operating condition, we can obtain various equilibrium states which satisfy the static equilibrium conditions, by considering the pad-pivot friction.

• Journal of Korean Society of Water and Wastewater
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• v.22 no.6
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• pp.657-664
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• 2008

This research compared several unsteady friction models for transient analysis of pipeline system. Unsteady friction is an important factor for accurate simulation of hydraulic transient. Steady friction, quasi-steady friction, Zielke's model and two versions of Brunone model were compared with measurement data of identical pipeline conditions. This study showed that the existing simple steady friction model can be useful for the safer design of pipeline system due to its overestimation of waterhammer, but introduction of more elaborate models are required for advanced analysis such as inverse transient analysis of friction or leakage and the preliminary analysis of water quality prediction of water distribution system.

• Tribology and Lubricants
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• v.16 no.4
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• pp.266-273
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• 2000

The friction characteristics of phenolic resin and model friction materials were investigated with the content of hexamethylenetetamine (HEXA). At 10 wt.% of HEXA, the phenolic resin and model friction materials showed the most stable friction coeffcient in constant temperature test at various test conditions because of its good thermal stability and proper curing reaction. It was found from constant interval test in mild condition that the friction coeffcients of friction materials cured with 10 wt.% of HEXA was the highest and stable values in the whole range of braking operations. However, at the severe condition in constant interval test, the friction coefficient of friction materials cured with 10 wt.% to of HEXA was lowered and as the number of braking operation increased, the values became stable. In order to obtain the thormal stable friction materials, the content of HEXA from 5 to 10 wt.% could be recommended.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.4
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• pp.363-367
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• 2011

In this paper, friction coefficients between ices and model ship were studied in order to predict the resistance of ice. The friction coefficient is a dimensionless scalar value which describes the ratio of the force of friction between two bodies and the force pressing them together. The coefficient of friction depends on the materials, roughness on surface, lubrication, etc. We tested and analyzed the friction coefficient for the development of the test methodology. The friction coefficient for ice model test is very dominant to predict the ship performance, so every ice tank uses their own painting technique. In this study, the friction coefficient with changing the moving speed of ice was studies by using a flat plates which were made by the MOERI's paining technique and the basic research for the developing the paining methodology in the MOERI ice model basin was carried out.