• 로봇학회논문지
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• 제12권3호
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

• 한국항공우주학회지
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• 제37권7호
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• pp.653-660
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• 2009

회전익기의 로터 브레이크 시스템은 제동 시 운동에너지를 마찰에 의한 열에너지로 변환시켜 로터를 정지시키거나 감속시키게 된다. 이때 발생된 마찰열은 재료의 마찰 특성 자체에 상당한 영향을 주게 되어 제동시간의 변화를 초래하거나 열탄성적 불안정성을 발생시키기도 한다. 이에 본 논문에서는 상용해석 소프트웨어 ABAQUS를 이용하여 온도에 따른 마찰계수의 변화를 고려하여 제동시간을 예측할 수 있는 열기계학적 연성해석을 수행하였으며, 이와 함께 열기계학적 거동을 고려하여 간략한 이론식을 제시하고, 이를 통해 마찰계수가 온도에 따라 변할 경우 로터 브레이크 시스템의 제동시간을 예측하고 제안된 이론식의 타당성을 고찰하였다.

• Composites Research
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• 제18권6호
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• pp.40-47
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• 2005

본 연구에서는 세라믹 방탄재료개발을 위해 가장 경제적이고 방탄물성이 높은 알루미나를 기본으로 하여 압축-팽창률이 높은 실리카를 첨가하여 방탄물성이 우수한 세라믹 방탄재료를 개발하고자 하였다. 3가지 조성을 선정하였으며 각각 조성에 적합한 소결온도를 설정하였다. 물리/기계적 물성을 측정한 후 K215 자탄을 기폭시켜 성형 작약(HEAT)탄에 대한 방탄물성을 측정하였으며, 30mm 고체추진포에서 10.7의 L/D비를 갖는 팅스텐 긴 관통자를 비행시켜 운동에너지(KE)탄에 대한 방탄물성을 측정하여 분석하였다. 그 결과 $46\%\;Al_2O_3\;-\;51\%\;SiO_2$가 가장 높은 방탄물성을 나타내었으며 알루미나에 비해 매우 우수한 방탄재료로 평가되었다.

• 미생물학회지
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• 제20권4호
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• pp.189-194
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• 1982

Acid protease produced from Aspergillus tubingensis was pruified by ethanol fractionation, dialysis, and DEAE cellulose column chromatography. As a result of purification its specific activity increased to 5.4 times, and percent recovery was 39. The kinetic constants of the enzyme were studied. Km and Vmax was $1.5{\times}10^{-7}M\;and\;0.11{\Delta}O.D/min$ , respectively, when casein was used as substrate. The order of Km value of several proteins is : casein

• 한국분말재료학회지
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• 제7권4호
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• pp.237-243
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• 2000

The property and performance of the $Al_2O_3/Ni$ nanocomposites have been known to strongly depend on the structural feature of Ni nanodispersoids which affects considerably the structure of matrix. Such nanodispersoids undergo structural evolution in the process of consolidation. Thus, it is very important to understand the microstructural development of Ni nanodispersoids depending on the structure change of the matrix by consolidation. The present investigation has focused on the growth mechanism of Ni nanodispersoids in the initial stage of sintering. $Al_2O_3/Ni$ powder mixtures were prepared by wet ball milling and hydrogen reduction of $Al_2O_3$ and Ni oxide powders. Microstructural development and the growth mechanism of Ni dispersion during isothermal sintering were investigated depending on the porosity and structure of powder compacts. The growth mechanism of Ni was discussed based upon the reported kinetic mechanisms. It is found that the growth mechanism is closely related to the structural change of the compacts that affect material transport for coarsening. The result revealed that with decreasing porosity by consolidation the growth mechanism of Ni nanoparticles is changed from the migration-coalescence process to the interparticle transport mechanism.

• Advances in environmental research
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• 제4권2호
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• pp.69-81
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• 2015

A new magnetite-silica core/shell nanocomposite ($Fe_3O4@nSiO_2@mSiO_2$) was synthesized and functionalized with trimethylchlorosilane (TMCS). The prepared nanocomposite was used for the removal of diesel oil from aqueous media. The characterization of magnetite-silica nanocomposite was studied by X-ray diffraction (XRD), Fourier transform infrared (FTIR), transmission electron microscopy (TEM), surface area measurement, and vibrating sample magnetization (VSM). Results have shown that the desired structure was obtained and surface modification was successfully carried out. FTIR analysis has confirmed the presence of TMCS on the surface of magnetite silica nanocomposites. The low- angle XRD pattern of nanocomposites indicated the mesoscopic structure of silica shell. Furthermore, TEM results have shown the core/shell structure with porous silica shell. Adsorption kinetic studies indicated that the nanocomposite was able to remove 80% of the oil contaminant during 2 h and fit well with the pseudo-second order model. Equilibrium studies at room temperature showed that the experimental data fitted well with Freundlich isotherm. The magnetic property of nanocomposite facilitated the separation of solid phase from aqueous solution.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권6호
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• pp.403-410
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• 2000

This paper deals with a study to improve the performance of Moving Coil type Linear Oscillatory Actuator (MC-LOA) considering unbalanced magnetic circuit. MC-LOA has an unbalanced magnetic circuit due to its asymmetric structure. In this type of LOA, the airgap flux density tends to have different magnitude along mover's displacement and the current directions. The above property causes eccentric of displacement center and interferes with the proper oscillation of LOA. Therefore, this paper presents two models having the unbalanced magnetic circuit and the other balanced by the saturated core. In order to compare the characteristics between the two models, a characteristic analysis for both the basic model and the improved model is performed by their dynamic analysis composed of kinetic and electric equations and Finite Element Method (FEM). The propriety of the improved model is verified through the experimental results.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2006년도 춘계학술대회 논문집
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• pp.145-148
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• 2006

Cold gas dynamic spray is a relatively new coating process by which coatings can be produced without significant heating during the process. Cold gas dynamic spray is conducted by powder sprayed by supersonic gas jet, and generally called the kinetic spray or cold-spray. Cold-spray was developed in Russia in the early 1980s to overcome the defect of thermal spray method. Its low process temperature can minimize thermal stress and also reduce the deformation of the substrate. Most researches on cold-spray have focused on micro scale coating, but our research team tried to apply this method to macro scale deposition. The macro scale deposition causes deformation of a thin substrate which is usually convex to the deposited side. In this research, the main cause of the deformation was investigated using 6061-T6 aluminum alloy and properties of deposited aluminum layer such as coefficient of thermal expansion, Elastic modulus, hardness, electric conductivity were measured. From the result of the analysis, it was concluded that compressive residual stress was the main reason of substrate deformation while CTE had little effect.

• 한국해양공학회지
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• 제20권6호
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• pp.41-53
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• 2006

This experimental study investigated the flow characteristics for regular waves passing a rectangular floating structure in a two-dimensional wave tank. The particle image velocimetry (PIV) was employed to obtain the velocity field in the vicinity of the structure. The phase average was used to extract the mean flow and turbulence property from repeated instantaneous PIV velocity profiles. The mean velocity field represented the vortex generation and evolution on both sides of the structure. The turbulence properties, including the turbulence length scale and the turbulent kinetic energy budget were investigated to characterize the flow interaction between the regular wave and the structure. The results shaw the vortex generated near the structure corners, which are known as the eddy-making damping or viscous damping. However, the vortex induced by the wave is longer than the roll natural period of the structure, which presents the phenomena opposing the roll damping effect; that is, the vortex may increase the roll motion under the wave condition longer than the roll natural period.