• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.1
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• pp.114-121
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• 2004

Frictional heating in brakes causes thermoelastic distortion of the contacting bodies and hence affects the contact pressure distribution. The resulting thermo-mechanical coupling can cause thermoelastic instability (TEI) if the sliding speed is sufficiently high, leading to non-uniform heating called hot spots and low frequency vibration known as hot judder. The vibration of brakes to the known phenomenon of frictionally-excited thermoelastic instability is estimated studying the interface temperature and pressure evolution with time. A simple model has been considered where a layer with half-thickness$\alpha$slides with speed V between two half-planes which are rigid and non-conducting. The advantage of this properlysimple model permits us to deduce analytically the critical conditions for the onset of instability, which is the relation between the critical speed and the growth rate of the interface temperature and pressure. Symmetrical component of pressure and temperature distribution at the layer interfaces can be more unstable than antisymmetrical component. As the thickness $\alpha$ reduces, the system becomes more apt to thermoelastic instability. For perturbations with wave number smaller than the critical$m_{cr}$ the temperature increases with m vice versa for perturbations with wave number larges than $m_{cr}$ , the temperature decreases with m.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Transactions of Materials Processing
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• v.20 no.6
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• pp.439-449
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• 2011

The temperature distribution and subsequent permanent deformation of SS400 carbon steel plate subjected to an induction-based line heating process were studied by a numerical method involving coupled 3-D electromagnetic-thermal-structural analysis. The numerical study revealed that the amount of permanent deformation is strongly related to the Joule loss caused by such process conditions as input power and moving speed of the heat source. To validate the numerical analysis results, line heating experiments were carried out with a high frequency(HF) induction heating(IH) equipment capable of bending thick plate with the moving accuracy of ${\pm}0.1mm$ in heating coil position. The amount of permanent deformation increased with decreasing moving speed and increasing input power.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.191-198
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• 2002

Oil-free turbo-compressor supported by compliant foil bearings which remove oil-contamination by elimination of the conventional ball bearing and oil lubrication systems is presented. Turbo-compressor makes two individual air compression with two impellers at operating speed, 39,000rpm. In this study, the rotordynamic effects caused by aerodynamic instability were investigated with variable mass flow rate. Correlation between frequencies of pressure fluctuation in two diffusers and those of excitation forces on rotor were clearly developed in aerodynamic unsteady region. Thus, these results show that it is beneficial to design high speed rotating turbomachinery considering coupling effect between aerodynamic instability and rotordynamic force.

• Journal of Electrical Engineering and Technology
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• v.3 no.3
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• pp.379-384
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• 2008

This paper examines permanent magnet eddy current couplings and brakes. Specifically, the effect of permanent magnet magnetization patterns on the magnetic field and force production is investigated. The eddy current couplings and brakes employ high energy-product neodymium-iron-boron (NdFeB) permanent magnets that act on iron-backed copper drums to provide torque transfer from motor to load without mechanical contact. A 2-dimensional finite element modeling is performed to predict the electromagnetic behavior and the torque-speed characteristics of permanent magnet type eddy current couplings and brakes under constant speed operation.

• The KSFM Journal of Fluid Machinery
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• v.6 no.2 s.19
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• pp.62-69
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• 2003

An oil-free turbo-compressor supported by compliant foil bearings which remove oil-contamination by elimination of a conventional ball bearing and oil lubrication systems is presented. Turbo-compressor makes two individual air compressions with two impellers at a operating speed of 39,000 rpm. In this study, the rotordynamic effects caused by aerodynamic instability were investigated with variable mass flow rates. Correlations between frequencies of pressure fluctuation in two diffusers and those of excitation forces on rotor were clearly observed in an aerodynamic unsteady region. Thus, these results show that it is beneficial to design high-speed rotating turbomachinery by considering coupling effect between aerodynamic instability and rotordynamic force.

• Earthquakes and Structures
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• v.3 no.3_4
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• pp.297-313
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• 2012

This paper is intended to show the robustness and capabilities of a coupled boundary element-finite element technique for the analysis of vibrations generated by high-speed trains under different geometrical, mechanical and operation conditions. The approach has been developed by the authors and some results have already been presented. Nevertheless, a more comprehensive study is presented in this paper to show the relevance and robustness of the method which is able to predict vibrations due to train passage at the vehicle, the track, the free-field and any structure close to the track. Local soil discontinuities, underground constructions such as underpasses, and coupling with nearby structures that break the uniformity of the geometry along the track line can be represented by the model. Non-linear behaviour of the structures can be also considered. Results concerning the excitation mechanisms, track behaviour and sub-Rayleigh and super-Rayleigh train speed are summarized in this work.

• Structural Engineering and Mechanics
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• v.54 no.5
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• pp.1017-1044
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• 2015

This study aimed to investigate the random vibration characteristic of train-slab track-bridge interaction system subjected to both track irregularities and earthquakes by use of pseudo-excitation method (PEM). Each vehicle subsystem was modeled by multibody dynamics. A three-dimensional rail-slab- girder-pier finite element model was created to simulate slab track and bridge subsystem. The equations of motion for the entire system were established based on the constraint condition of no jump between wheel and rail. The random load vectors of equations of motion were formulated by transforming track irregularities and seismic accelerations into a series of deterministic pseudo-excitations according to their respective power spectral density (PSD) functions by means of PEM. The time-dependent PSDs of random vibration responses of the system were obtained by step-by-step integration method, and the corresponding extreme values were estimated based on the first-passage failure criterion. As a case study, an ICE3 high-speed train passing a fifteen-span simply supported girder bridge simultaneously excited by track irregularities and earthquakes is presented. The evaluated extreme values and the PSD characteristic of the random vibration responses of bridge and train are analyzed, and the influences of train speed and track irregularities (without earthquakes) on the random vibration characteristic of bridge and train are discussed.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.3
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• pp.272-275
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• 2014

An improved fuzzy Kalman filtering speed estimation scheme was proposed by means of measuring stator side voltage and current value based on vector control state equation of induction motor. The designed fuzzy adaptive controller conducted recursive online correction of measurement noise covariance matrix by monitoring the ratio of theory residuals and actual residuals to make it approach real noise level gradually, allowing the filter to perform optimal estimation to improve estimation accuracy of EKF. Meanwhile, co-simulation scheme based on MATLAB and Ansoft was proposed in order to improve simulation accuracy. Field-circuit coupling problems of induction motor under the action of vector control were solved and the parameter optimization accuracy was improved dramatically. The simulation and experimental results show that this algorithm has a strong ability to inhibit the random measurement noise. It is able to estimate motor speed accurately, and has superior static and dynamic characteristics.