• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.7
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• pp.651-657
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• 2008

A new approach for maximizing torque capability of low efficient reaction wheel assembly is addressed in this paper. At first, to find out a solution in constrainted field, weighted pseudo-inverse and momentum minimized allocation are suggested instead of a general control allocation called pseudo-inverse. The second method is a structural manner to enlarge torque capability of specific axis by changing installed skew angle of wheels. Two proposed methods are applied to large angle maneuvers of satellite. Improvement of control performance and feasibility for applying to commercial satellite attitude control are demonstrated by numeric simulations.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.12
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• pp.1285-1289
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• 2012

This study has been focused on application of ELID lapping process for mirror-surface machining of sapphire wafer. Sapphire wafer is a superior material with optic properties of high performance as light transmission, thermal conductivity, hardness and so on. High effective surface machining technology is necessary to use sapphire as various usages. The interval ELID lapping process has been set up for lapping of the sapphire material. According to the ELID lapping experimental results, it shows that 12.5 kg of load for lapping is most pertinent to ELID lapping. the surface of sapphire can be eliminated by metal bonded wheel with micron abrasives and the surface roughness of 60 nmRa can be gotten using grinding wheel of 2,000 mesh in 4.5 um, depth of cut. In this study, the chemical experiments after ELID grinding also has been conducted to check chemical reaction between workpiece and grinding wheel on ELID grinding process. It shows that the chemical reaction has not happened as the results of the chemical experiments.

• Journal of Biosystems Engineering
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• v.5 no.2
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• pp.26-39
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• 1980

A study was investigated to find out the mechanical optimum conditions of power tiller-plow system on both paddy field and upland. Mathematical model was developed for the theoretical analysis of this system and the experimentation on the field was carried out with two different sizes of 5PS and 8PS power tiller equipped with rubber tire. 1) The relationship between the plowing depth and draft resistance of the power tiller-plow system was a quadratic function. 2) The minimum point of the specific draft resistance of the 5 PS plow was found at the smaller plowing depth than that of 8 PS plow, therefore we can find that the curved surface of 5PS plow bottom should be improved for the effective plowing operation. 3) As the improvement of the mechanical balance by the desirable change of the curved surface of plow bottom, the relative position of hitch point and dimension of plow beam would be realized, the 5 PS power tiller could be used to plow deeply (about 16-17cm). 4) The virtual acting point of the total draft resistance on the plow bottom approached to the land side as the plowing depth increased. 5) The resultant of vertical reaction force $R_2$ on the landside was increased with the plowing depth, while the vertical reaction force $R_1$ on the wheel was decreased as the slope angle of the body of power tiller increased. 6) For the effective plowing operations ; a) The slope angle of the body should be as small as possible. b) The diameter of the wheel should be as small possible. c) The horizontal and vertical distances $l_2, h_1$ between the wheel axis and plow bottom should be as large as possible. 7) To use the 5PS power tiller as the major unit of agricultural machinery, the curved surface of the 5 PS plower bottom and the mechanism of attachment between the power tiller and the plow should be changed as the indications of this study, and in addition to these, the new operation method of the field work should be developed.

• Bulletin of the Korean Space Science Society
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• 2005.04a
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• pp.138-142
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• 2005

A reaction wheel, an actuator for satellite attitude control, produces disturbance torque and force as well as its axial control torque. The disturbances have an influence on the pointing stability of high precision satellites. The measurement of disturbances for such a satellite, therefore, is necessary. The wheel's rotation, however, causes the vibration of the table and its vibration induces measurement errors, especially large near the resonance frequency of the Measurement table. For the purpose of overcoming these defects, a calibration method using frequency compensation is suggested in this paper. Disturbance parameters are identified from data examined by frequency compensation. Measurement frequency range can be expanded far higher than the resonance frequency, since the degradation of data accuracy caused by its vibration is well alleviated even in the resonance area.

• Journal of the Korea Society of Computer and Information
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• v.19 no.3
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• pp.11-16
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• 2014

In this paper, the two-wheels robot using a predictive controller to maintain the balance of the posture control in real time have been examined. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. The objective of this research was to design and implement a self-balancing algorithm using the dsPIC30F4013 embedded processor. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this study, the disturbance of the posture for the asymmetrical propose to overcome the predictive controller which was a problem in the control of a remote system by introducing the two wheels of the robot controller and the linear prediction of the system controller combines the simulation was performed. Also, the robust characteristic for realizing the goal of designing a loop filter too robust controller is designed so that satisfactory stability of the control system to improve stability of the system to minimize degradation of performance was confirmed.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.111-116
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• 2004

Li-complex and urea type greases (each 10 species) which were furnished by Chang-Am LS, analyzed anti-wear performance into fretting wear tester & four-bail wear tester. from the results of fretting wear test, the wear volume of Li-complex greases are $4.6\~8.9mg\;and\;8.3\~14.4mg$ with the test of urea greases. The anti-wear performance for 4-ball wear test of greases produced results around 0.5mm at the value of WSD. The grease life performance were evaluated by SKF-ROF Grease Tester and wheel bearing life tester. From the results of SKF-ROF tester, the life performance evaluated by whole working time produced results $50\~300hr$ with the Li-complex greases and 100-1000hr with the urea greases. That is to say, in spite of severe condition at the higher of $10^{\circ}C$ reaction temp, the life performance with Urea type greases are much superior to Li-complex type greases. Prior to wheel bearing life tester, the grease selected performance evaluation(=anti-wear test) are tested by wheel bearing tester. In this results, we can confirm results those are similar with SKF-ROF tester. In this study, we can draw two major conclusions, one is that Li-complex greases are superior to urea greases with anti-wear properties and the other is that urea greases are much superior to Li-complex greases with life performance.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• Journal of Aerospace System Engineering
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• v.1 no.4
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• pp.37-41
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• 2007

Labyrinth seal is most common way to protect the bearings installed in Reaction wheel. In spite of wide applications, no such research was found about the sealing utility of the Labyrinth seal in the condition of vacuum and high temperature. In this research, we tried to verify the utility of Labyrinth seal. Numerical analysis had been executed to predict the benefit of the Labyrinth seal and also experiments were performed to verify the utilization. Two Bearings were installed at the vacuum chamber, one was assembled with Labyrinth seal and the other was stand alone. After executing the vacuum test, it was found to be the stand alone bearing had lost more weight than the one that was assembled with the labyrinth seal. In this result, it is verified that the Labyrinth seal has useful function to preserve the lubricant that affects to the life-cycle of the Bearing.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.262-271
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• 2004

Hydropneumatic suspension unit is an important part of tracked vehicles to absorb external impact load exerted from the non-paved road and the cannon discharge. Its absorption performance is strongly influenced by both damping and spring forces of the unit. In this paper, we numerically analyze the damping characteristics of the in-arm-type hydropneumatic suspension unit (ISU) by considering four distinct dynamic modes of the ISU damper: jounce-loading, jounce-unloading, rebound-loading and rebound-unloading. The flow rate coefficients determining the oil flow rate through the damper orifice are decided with the help of independent experiments. The wheel reaction force, the flow rate at cracking and the damping energy are parametrically investigated with respect to the orifice diameter and the wheel motion frequency.