• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.12
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• pp.2353-2363
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• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.356-361
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• 2005

Earth brush for electrical multiple units(EMUs) is a device through which the current of the EMU load's consumed power fed from the DC 1,500V overhead line (or from the AC 25.000V catenary) flows via axle to the rail(ground) and which prevents the electric corrosion of the axle bearings by preventing the current flow to the axle bearings caused by electric potential from the magnetic field when the bearings rotate together with the earthing function when a thunderbolt falls or a surge comes. The earth brush wear rates among cars, however, shows quite differences when the earth brushes after being separated from the holders are measured with vernier callipers every 6 months of maintenance period. Main causes of the earth brush wear are divided as mechanical, electric arc and electrical one, and the factors can be running speed, current, harmonics, connection state. spring tension, earth brush material, lubricant and so on. but only the earth brushes of the motor(M1) car show the highest wear rate and moreover maintenance difficulty occurs because of the wear rate differences among e earth brushes in one holder. The reason for these preponderant wear comes from the design concept of making preponderant current flow to some particular earth brushes and moreover the heat generated by the harmonics when the inverter starts to operate accelerate the wear. By defining these causes through experiments. I hope that the found results would be helpful for the future EMU design, safety, economy and maintenance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.967-971
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• 2004

Today, as the demands for home appliances are increasing, the understanding of noise and vibration characteristics have become more important. It is hard to control its vibration and noise characteristics, because its mechanical structure is very complex. In this study a model of reciprocating compressor is developed. Spring, frame, and LDT are modeled as flexible body, and the other parts are modeled as rigid. FEM model of frame is simplified in order to save the simulation time. We validated the simple model by comparing their natural frequencies and mode shapes. Motor torque is applied to a rotor, and the piston is subjected to a gas pressure. The vibrational characteristics of compressor is analyzed with LS-DYNA. Its results are compared with the simulation results of rigid body frame. The effect of LDT is also studied by comparing the vibration of frame with the results of simulation with no LDT.

• Journal of the Korean Society of Propulsion Engineers
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• v.21 no.1
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• pp.104-111
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• 2017

A new explosive bellows, which has a diameter of 8.0 mm and a length of 25.4 mm, was developed for a warhead fuze. The new explosive bellows delivers a thrust of 4.5 kgf over a stroke of 25.4 mm. A new gas generator containing BP/MTV ignition charge was also developed and the output test equipment, which measures the length of spring compressed by the function of explosive bellows, was also devised. In order to find out that the new explosive bellows meets the design requirements, the sensitivity tests and output tests were conducted. The test results show that the new explosive bellows meets the requirements and can be applicable to a warhead fuze.

• Journal of Preventive Medicine and Public Health
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• v.1 no.1
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• pp.1-8
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• 1968

This paper describes the incidence of transport accident for the period, 1955-1965. Transport accidents were classified into three categories, viz. railway(WHO Classification of Diseases, E-802), watercraft (E 550-E 858) and motor vehicle accidents(E810-E835, E840-E841, E844-E845). Crude data on the subject were collected from the various souces of Government Statistical Books including Statistical Year Books edited by the Central Office of Economic Planning Board, Annual Police Reports by the Ministry of Home Affairs, and the national and local associations for road traffic safety. From the data incidence and mortality rates by year, month and local province were computed and other variables relevant to the epidemiology of accidents were observed. The following summary could be drawn: 1. Death rates due to transport accidents per 100,000 population were 12.3 for 1955 and 9.7 for 1965. The incidence of injury due to the same cause were 34.0 for 1955 and 35.9 for 1965. 2. Death rates by transportation vehicle showed 9.0 due to motor vehicle accidents, 1.7 due to water-crafts, and 1.6 due to railway trains for 1955. In 1965 death rates were 6.0 due to motor vehicles, 1.2 to water-crafts and 2.4 to railway. 3. Seasonal distribution of transport accidents revealed that car accidents occur more frequently in spring and fall fall seasons while ship accidents do in winter and train accidents more in summer. 4. Both car and ship accidents slightly decreased during the past decade, 1955-1965, whereas the accidents of railway trains showed a tendency of increase. 5. Although the survey on railway accidents excluded the injuries of passengers or railway employees corresponding to WHO classification of diseases, E 801, due to inaccuracy of data, it is roughly estimated that the same number of casualities as the incidence among pedestrians or any other than passengers or employees assumed to be at work(E 802).

• International Journal of Fluid Machinery and Systems
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• v.4 no.4
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• pp.367-374
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• 2011

Water hammer pumps can effectively use the water hammer phenomenon in long-distance pipeline networks that include pumps and allow fluid transport without drive sources, such as electric motors. The results of experiments that examined the effect of the geometric form of water hammer pumps by considering their major dimensions have been reported. In addition, a paper has also been published analyzing the water hammer phenomenon numerically by using the characteristic curve method for comparison with experimental results. However, these conventional studies have not fully evaluated the pump performance in terms of pump head and flow rate, common measures indicating the performance of pumps. Therefore, as a first stage for the understanding of water hammer pump performance in comparison with the characteristics of typical turbo pumps, the previous paper experimentally examined how the hydrodynamic characteristics were affected by the inner diameter ratio of the drive and lifting pipes, the form of the air chamber, and the angle of the drive pipe. To understand the behavior of the components attached to the valve chamber and the air chamber that affects the performance of water hammer pumps, the previous study also determined the relationship between the water hammer pump performance and temporal changes in valve chamber and air chamber pressures according to the air chamber capacity. For the geometry of components attached to the drain valve, which is another major component of water hammer pumps, this study experimentally examines how the water hammer pump performance is affected by the length of the spring and the angle of the drain pipe.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.174-181
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• 2001

Nowadays, the improvement and development of Multi-media and information & communication technology is rapidly processed. They need large data storage capacity. So that, many studies and researches in data storage have been carried out. According to them, the data storage capacity has been increased. But the limitation of storage capacity is happened for several problems. One of them is spot & pit size in optical and magnetic data storage and another is the resolution of actuators. The problems in spot & pit size are covered by new data storage methods-- for examples, AFM(Atomic Force Microscopy), MO(Magneto-optical) system, and NFR(Near-Field decoding) system etc. But the resolution limit of an actuator was not developed and doesn\`t follow up the development of spot & pit size. Because of them, we should improve a resolution of an actuator. Especially, in this paper an actuator if studied and designed for NFR (in using SIL(Solid Immersion Lens) system. It is a dual stage actuator, which consists of a Fine actuator and a Coarse actuator. and should desire 100nm accuracy. Its actuating force generation method is VCM(Voice Coil Motor). The Fine actuator is composed of 4-leaf springs and a bobbin wrapped by coil. The Coarse actuator has Coils and 3-Roller bearings. Also, The Characteristics of designed actuator for NFR system is estimated by Sine-Swept mode and LDV(Laser Doppler Vibro-meter).

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.86-92
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• 2008

Recently, the use of tubes in the manufacturing of the automobile parts has increased and therefore many automotive manufactures have tried to use hydro-forming technology. The hydro-forming technology may cause many advantages to automotive applications in terms of better structural integrity of the parts, lower cost from fewer part count, material saving, weight reduction, lower spring-back, improved strength and durability and design flexibility. In this study, the whole process of front engine cradle (or front sub-frame) parts development by tube hydro-forming using steel material having tensile strength of 440MPa grade is presented. At the part design stage, it requires feasibility study and process design aided by CAE (Computer Aided Design) to confirm hydro-formability in details. Effects of parameters such as internal pressure, axial feeding and geometry shape on automotive sub-frame by hydro-forming process were carefully investigated. Overall possibility of hydro-formable sub-frame parts could be examined by cross sectional analyses. Moreover, it is essential to ensure the formability of tube material on every forming step such as pre-bending, preforming and hydro-forming. At the die design stage, all the components of prototyping tools are designed and interference with press is examined from the point of geometry and thinning.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.119-128
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• 2004

With the growing traffic density and increasing comfort requirements, the automation of the drive train will gain importance in vehicles. The automatic clutch actuation relieves the drivers especially in urban driving and stop-and-go traffic conditions. This paper describes the dynamic modeling of a clutch actuator and clutch spring. The dynamic model of the clutch system is developed using MATLAB/Simulink, and evaluated by experimental data using a test rig. This performance simulator is useful to develop the clutch-by-wire (CBW) system for an automated manual transmission (AMT). The electro-mechanical type CBW system is also implemented as an automatic clutch for AMT. The prototype of CBW system is designed and implemented systematically, which is composed of an electric motor, worm gear and slider-crank mechanism. The test rig is developed to perform the basic function test of the automatic clutch, and the developed prototype is validated by the experimental data on the test rig.