• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1796-1799
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• 1997

This thersis presents precise position control emthods of a 3-PRPS in-parallel manipulator for industrial applications such as assembly of highly integrated semiconductors and microsurgery. Since real-time ontrol is one of the most important issues required for industrial application, the experimental hardware is set up with a VME based DSP controller. In the 3-PRPS parallel mainpulator, structurally existing frictiion at three horizontal links considerably degrades the precise position control. In order to compensate the friction of the horizontal links in the joint space, a disturbance compensation usign disturbance and velocity observers has been proposed and investigated. We analyzed the decision method of eigenvalues of the disturbance observer and the effects of the control resulted form tehsystem model errors. Through a series of simulations and experiments, we see that the methods is capable of compensating variations of the robot parameters such as inertia and damping as well as the joint friction. Experiments show that the disturbance compensation method usign disturbance and velocity observer is very effective to compensate the friction. Compared with conventional PID position control, it decreased position errors ina circular motion by approximately 70%.

• Journal of the Korean Wood Science and Technology
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• 제26권4호
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• pp.26-33
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• 1998

Acoustical properties of chestnut and paulownia woods have been determined in four film thicknesses of oriental lacquering and cashew varnishing on double surfaces of soundboard to elucidate effects of finishing. Accelerometer was attached to the specimen at one third position from one end, and specimen was hit by the impact hammer at one third position from opposite end. Data were processed by vibration analyzer. The ratio of axial-to-transverse sound velocity of untreated specimens of chestnut and paulownia were 3.25 and 5.34, respectively. Natural frequency, specific Young's modulus, acoustical coefficient, sound velocity, damping of sound radiation(DSR) and acoustical converting efficiency(ACE) decreased by oriental lacquering and cashew varnishing for both species. Damping of internal friction of chestnut decreased by oriental lacquering and cashew varnishing, but that of paulownia increased. Natural frequency. specific Young's modulus, acoustical coefficient, sound velocity, and DSR decreased with increased film thickness of both finishing materials. However, damping of internal friction and ACE showed irregular tendency with increased film thickness. Acoustical properties of cashew varnished chestnut specimen were better than those of oriental lacquered specimen. Acoustical properties of oriental lacquered paulownia specimen were better than those of cashew varnished specimen.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2007년도 추계학술대회 논문집
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• pp.27-30
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• 2007

In order to measure the friction coefficient used in sheet metal forming analysis, a friction tester was manufactured and friction tests were performed in various forming conditions. Based on the friction coefficients measured, a mathematical friction model was constructed in terms of lubricant viscosity, blank holding force, punch velocity and sheet roughness. In addition, the effect of the number of forming parameters in the calculation of friction coefficient on the accuracy of sheet metal forming analysis was investigated by comparing the punch loads obtained from the FEM simulation, in which the friction coefficients were determined by a few parameters with the experimental measurement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2555-2559
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• 2003

In this study, we develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and friction-generating device. So we will make a suitable dynamic model and mechanism to control friction force using a AC servo-motor. We suggest Stick friction and Column friction model, which is occurred between roller and veneer and within veneers as well. A kind of sensor can get the velocity of roller and movement of roller vertical direction. We assume that the several things to simplify the complicate and difficult nonlinear friction phenomenon. And to create an optimal normal force, which can generate a suitable friction force, we control the movement of sorting roller and supporter as well. We introduce several results about a friction character and suggest the value of calibration of sorting roller movement and supporters as well.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.622-625
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• 2004

The CMP monitoring system was newly developed by the aid of friction force measurement, resulting from installation of piezoelectric quartz sensor on R&D polisher. The correlation between friction and CMP results was investigated in terms of tribological aspects by using the monitoring system. Various friction signals were monitored and analyzed by the change of experimental conditions such as pressure, velocity, pad and slurry. First of all, the lubrication regimes were classified with Sommerfeld Number through measuring coefficient of friction in ILD CMP. And then, the removal mechanism of abrasives could be understood through the correlation with removal rate and coefficient of friction. Especially, the amount of material removal per unit sliding distance is directly proportional to the friction force. The uniformity of CMP performances was also deteriorated as coefficient of friction increased.

• 한국지반공학회논문집
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• 제31권9호
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• pp.17-27
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• 2015

벤더엘리먼트가 장착된 삼축압축시험장비를 이용하여 모래에 대한 일련의 압밀배수시험을 수행하였다. 상대밀도 및 유효구속응력 조건을 달리하여 각각의 조건별 응력-변형률 관계를 측정하였으며, 압밀이 종료된 시점에서의 전단파 속도를 측정함으로써 전단파 속도와 간극비, 유효응력, 그리고 전단강도와의 상관관계를 분석하였다. 분석 결과, 미소변형률에서의 전단파 속도로부터 계산된 최대전단탄성계수와 파괴 시의 축응력과 압밀 시의 구속응력의 합으로 정의되는 유효수직응력간에는 고유한 상관관계가 존재하는 것으로 나타났다. 도출된 전단탄성계수와 유효수직응력간의 상관관계는 유효구속응력을 정규화시킴으로써 정확도를 향상시켰다. 본 연구를 통해 제시된 상관관계를 통해 전단강도 및 내부 마찰각을 예측하였을 시, 실제 실내 시험을 통해 산출된 내부 마찰각을 정확하게 예측할 수 있는 것으로 나타났다. 이는 미소변형률에서의 전단파 속도를 기반으로 신뢰성 높은 파괴 시 전단강도, 나아가 내부 마찰각까지 예측이 가능하다는 것을 의미하며 기존 SPT-N value와 경험식을 통해 내부 마찰각을 예측하여 설계에 적용하는 방식의 불확실성을 개선해 줄 수 있는 매우 유용한 방법이라고 판단된다.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권1호
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• pp.57-68
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• 2015

When a straight channel formed by two parallel porous plates, through which two immiscible liquids occupying different heights are flowing a secondary motion is set up. The motion is caused by moving the upper plate with a uniform velocity about an axis perpendicular to the plates. The solutions are exact solutions. Here we discuss the effect of suction parameter and the position of interface on the flow phenomena in case of Couette flow. The velocity distributions for the primary and secondary flows have been discussed and presented graphically. The skin-friction amplitude at the upper and lower plates has been discussed for various physical parameters.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집B
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• pp.124-129
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• 2000

The flow of liquid and vapor is investigated in trapezoidal grooves. The effect of variable shear stress along the interface of the liquid and vapor is studied for both co-current and counter-current flows. Velocity contours and results fur the friction are obtained for both trapezoidal grooves. An approximate relation that was previously utilized for the friction for the liquid was modified to obtain accurate agreement with the results for trapezoidal grooves.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.799-804
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• 2003

Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip, stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the position of the system. The motion of friction in the sliding region can be described as the LuGre model. But the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely. Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is proposed in this paper. And simulation and experimental results show the effectiveness of the proposed friction model for precise tracking control systems.

• Journal of Biosystems Engineering
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• 제32권6호
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• pp.389-394
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• 2007

The power output of the stirling engine is influenced by the regenerator effectiveness. The regenerator effectiveness is influenced by heat transfer and flow friction loss of the regenerator matrix. In this paper, in order to provide basic data for the design of the regenerator matrix, characteristics of working fluid velocities were investigated by a packed method of matrix in the oscillating flow as the same condition of operation in a Stirling engine. As matrices, two different wire screens were used. The results are summarized as follows; 1. When a regenerator is not filled with any wire screen, working fluid velocity of the oscillating flow shows 1.3 times faster than that of one directional flow. 2. When a regenerator is filled with the wire screen of No.50, working fluid velocity of the oscillating flow reveals 2.5 times faster than that of one directional flow. 3. When a regenerator is filled with the wire screen of No. 100, working fluid velocity of the oscillating flow shows 2 times faster than that of one directional flow, regardless of the number of packed wire screens. 4. Working fluid velocity is decreased wire the increase in number of meshes and packed wire screens.