• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1074-1081
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• 2010

Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire reaction velocity or accuracy would be happen. This paper introduces entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

• Tribology and Lubricants
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• v.10 no.3
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• pp.29-38
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• 1994

The friction and wear of mild steel at dry sliding surfaces under different vacuum conditions have been investigated to understand the wear mechanisms. For the test, a ball-ondisk typed wear-rig has been built and implemented, allowing control of sliding speed, load and vacuum. Results show that, at a high sliding velocity, friction of low carbon steel (SS41) under a high vacuum is much higher than that of ambient condition and wear is much severer. It is due to lack of effective oxidation film formation on which steel surfaces could protect themselves against the severe wear. It has been shown, however, that there is a critical regime with contact conditions (at a low sliding velocity, a low load, and under a medium vacuum) at which effective, protective films of low carbon steel have been built on the surfaces in a friction process with a self-regulating way, resulting in both very low coefficients of friction (about 0.3) and mild wear. In order to investigate the protective films on steel surfaces, the worn surfaces and the wear debris have been experimentally analyzed with SEM, AES/SAM and XRD. A theoretical analysis of frictional heating at sliding surfaces, and an experimental analysis of the influence of oxidation wear under various vacuum conditions are described. The important variables on which self-formations of protective films at dry sliding surfaces depend, and the wear mechanisms are also investigated.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.2
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• pp.210-218
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• 1998

Experimental results for forced convection condensationof Refrigerant-22 and ternary Refrigerant-407c(HFC-32/125/134a 23/25/52 wt%) considered as a substitute R-22 inside horizontal micor-fin tubes are presented. The test section was horizontal double-tubed counterflow condenser with a length 4000 mm micro-fin tube having 9.53 mm OD., 0.2 mm fin height and 60 fins. The refrigerants R-22 and R-407c were cooled by a coolant circulated in a surrounding annulus. The range of parameters of mass velocity was varied from 102.1 to 301.0kg/($\textrm{m}^{2}.s$) with inlet quality 1.0. Both refrigerant R-22 and its alternative refrigerant R-407c were tested within the same range of parameters. At the given experimental conditions for R-22 and R-407c the pressure drops for R-407c were considerably higher than those for R-22 at micro-fin tubes. Over the mass velocity range tested the PF(penalty factor)was lower than the increasing ratio of heat transfer area by fins. Based on the data correlation was proposed for predicting the frictional pressure drops for R-22 and R-407c for a duration of condensation inside a horizontal micro-fin tube.

• Journal of Welding and Joining
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• v.18 no.5
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• pp.105-111
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• 2000

The wear behavior of thermal sprayed AlSiMg-40TiC composite coatings were studied as a function of load and sliding velocity under unlubricated conditions. Experiments were performed using a block-on-ring(WC-6wt%/Co, Hv 1500) type. The tests were carried out a various load(30∼ 125.5N) and sliding velocity(0.5∼2.0m/s). Three wear rate regions were observed in the AlSiMg-40TiC composite coatings. The wear rate in region I at low load (less then 8N( were less than 1×{TEX}$10^{-5}${/TEX}㎣/m. Low wear rates in region I resulted from the load-bearing capacity of TiC particles. The transition from region I to II occurred when the applied load exceeded the fracture and pull-out strength of the particles. The TiC fractured particles trapped between the specimen and the counterface acted as third-body abrasive wear. The subsurface layer worn surface in region II was composed of the mechanically mixed layer (MML). The wear rate increase abruptly above a critical load (region III). The high wear rate in region III was induced by frictional temperature and involves massive surface damage.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.07a
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• pp.227-230
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• 2004

As the organic acids were added in the slurry, zeta potential of alumina was changed to negative value and IEP value was shifted from alkaline to acidic pH. In citric acid based slurry, Cu surface continuously dissolved and etching depth linearly increased. On the contrary, passivation layer was grown on Cu surface in oxalic acid based slurry. As the platen rotation speed increased, Preston coefficient decreased in both slurries. With oxalic acid based slurry, at low velocity, removal rate is high value because of high friction force compared to citric acid based slurry. As platen velocity increased, removal of Cu in citric acid based slurry became higher value than oxalic acid based slurry. Typical lubrication behaviors were observed in both slurries. As Sommerfeld number increased, COF values gradually decreased and then re-increased. It indicated that lubrication was changed to direct contact or semi-direct contact mode to hydro-lubrication mode.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.2
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• pp.102-112
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• 1997

This paper describes the method that can construct kinematically admissible velocity fields for forging of gear-like components which have tooth shape around the cylinder. The kinematically admissible velo- city fields for the various gear-like components, involute spur gear, trapezoidal spline, square spline, ser- ration and trochoidal gear, were constructed by pilling up the velocity components according to the shape of tooth and billet. The billets, of hollow and solid, were Al 2218 and 2024. To verify the method, the analyses and experiments were carried out and compared with each other. For analyses, the half pitches of com- ponents were divided into several deformation regions based on their tooth profile. A neutral surface was used to represent the inner flow of material during forging. Its location varied with the energy optimazation and its contour varied with the number of teeth. In experiment, the contour of material filling up the tooth zone is hyperbolic curve caused by the frictional drag on the interface of die-wall/workpiece but, in the analysis, it is an arc which retains the same contour during all forging operation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.8
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• pp.2468-2479
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• 1996

An upper bound solution is obtained to perform the process analysis of hot strip rolling process. The material flows within the roll bite at various geometries and frictional conditions are obtained from finite element analysis and the typical flow pattern which is necessary to determine the kinematically admissible velocity field is assumed. From the kinematically admissible velocity field, the upper bound energy is calculated and the rolling load, angle of neutral point and forward slip ratio at various operational conditions are obtained from upper bound energy. The process analysis of above mentioned parameters at various operational conditions have provided valuable information which is hard to obtain during rolling operation and the predicted ranges of quantitive values from these analyses lie whthin the bound of actual operational data.

• Coupled systems mechanics
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• v.11 no.3
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• pp.267-284
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• 2022

Due to the high usage of ABS in industries, such as aerospace, auto, recreational devices, boat, submarines, etc., the purpose of this project was to find a way to weld this material, which gives advantages, such as affordable, high speed, and good connection quality. In this experimental project, the friction welding method was applied with parameters such as numerical control (NC) machine with two different speeds and three cross-sections, including a flat surface, cone, and step. After the end of the welding process, samples were then applied for both tensile and bending tests of materials, and the results showed that, with increasing the machining velocity Considering of samples, the friction of the surface increased and then caused to increase in the surface temperature. Considering mentioned contents, the melting temperature of composite materials increased. This can give a chance to have a better combination of Nanomaterial to base melted materials. Thus, the result showed that, with increasing the weight percentage (wt %) of Nanomaterials contents, and machining velocity, the mechanical behavior of welded area for all three types of samples were just increased. This enhancement is due to the better melting process on the welded area of different Nano contents; also, the results showed that the shape of the welding area could play a significant role, and by changing the shape, the results also changed drastically.A better shape for the welding process was dedicated to the step surface.

• Journal of Mechanical Science and Technology
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• v.17 no.3
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• pp.350-356
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• 2003

In this study, a numerical analysis for the piston secondary dynamics of small refrigeration reciprocating compressors is performed. In general, the length of cylinder in this class of compressors is shortened to diminish the frictional losses of the piston-cylinder system. So, the contacting length between piston and cylinder wall is in variable with the rotating crank angle around the BDC of the reciprocating piston. In the problem formulation of the piston dynamics, the variation in bearing length of the piston and all corresponding forces and moments are considered in order to determine the piston trajectory, velocity and acceleration at each step. A Newton-Raphson procedure was employed in solving the secondary dynamic equations of the piston. The developed computer program can be used to calculate the entire piston trajectory and the lubrication characteristics as functions of crank angle under compressor running conditions. The results explored the effects of some design parameters and operating conditions on the stability of the piston, the oil leakage, and friction tosses.

• Tribology and Lubricants
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• v.18 no.4
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• pp.291-298
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• 2002

In this study, a numerical analysis f3r the piston secondary dynamics and lubrication characteristics of small refrigeration reciprocating compressors is presented. In general, the length of cylinder in this class of compressors is shortened to diminish the frictional losses of the piston-cylinder system. So, the contacting length between piston and cylinder wall is in variable with the rotating crank angle around the BDC of the reciprocating piston. In the problem formulation of the piston dynamics, the change in bearing length of the piston and all corresponding forces and moments are considered in order to determine the piston trajectory, velocity and acceleration at each step. A Newton-Raphson procedure was employed in solving the secondary dynamic equations of the piston. The developed computer program can be used to calculate the entire piston trajectory and the hydrodynamic forces and moments as functions of crank angle under compressor running conditions. The results explored the effects of the radial clearance, lubricant viscosity, and pin location on the stability of the piston, the oil leakage, and friction losses.