• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1077-1081
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• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• Tribology and Lubricants
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• 제20권5호
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• pp.278-283
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• 2004

O-ring seal is widely used for sealing pressure vessels and oil containers in various applications of mechanical equipments. The doughnut shape of the O-ring is very important components in most of the system assembly of mechanical apparatus. This paper presents the sealing force of a pressurized perfluoroelastomer O-ring, which is very important contact seal in sealing the semiconductor equipment. The sealing pressure is measured by experimental method and analyzed numerically by using the non-linear MARC finite element program. The seal tester is made to measure the contact force and displacement of the O-ring with an automatic control system of the working temperature. The results show the reasonable agreements between the computed FEM results and measured ones when the operating temperature is moderate temperature. But the compared values between the computed and tested results show a difference because of the increased temperature, which is related to the non-linear parameter of the O-ring material.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.389-396
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• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• 대한토목학회논문집
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• 제35권2호
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• pp.481-491
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• 2015

콘크리트 표면에 발생된 균열은 구조물의 수명에 영향을 미치는 주요원인으로 작용하기 때문에 주기적인 검사와 유지관리가 필요하다. 콘크리트 표면 유지관리를 위한 실링작업은 표면에 발생된 균열을 초기에 보수하는 방법으로 시간 경과에 따른 균열의 추가생성 및 확산을 방지하는데 효과적이다. 하지만, 교량 하부의 실링작업은 열악한 작업환경으로 인하여 작업자들의 안전성 확보에 문제가 있다. 이런 이유로, 콘크리트 구조물의 유지관리를 위한 실링자동화의 필요성이 부각되고 있다. 본 논문은 콘크리트 교량 하부에 발생된 균열의 실링작업에 로봇을 적용하기 위한 두 가지 제어방법에 대하여 제안한다. 하나는, 균열의 궤적을 자동으로 추적하는 방법이다. 로봇은 카메라로부터 취득되는 영상정보로 균열의 궤적을 파악하는데, 이전 시점의 궤적 정보를 통하여 다음 이동할 시점의 정보를 유추할 수 있다면, 실시간으로 변동되는 궤적 정보에 대응이 가능하면서 자동으로 균열을 추적할 수 있다. 다른 하나는 접촉면에 일정한 힘을 유지하여 실링하는 방법이다. 장기간 외부 환경에 노출된 거친 표면에서도 로봇이 일정한 접촉력을 유지하며 실링작업을 수행한다면, 균등한 완성도를 유지할 수 있다. 이러한 균일한 힘의 유지를 위하여 임피던스를 이용한 힘 제어 기법을 제안한다. 본 논문에서는 실링 로봇에 적용하기 위하여 개발한 두 가지 제어기법들을 소개하고, 그것을 적용한 Lab Test와 Field Test를 수행한다. 이 시험결과를 토대로 로봇의 현장적용에 대한 의견을 제시한다.

• Elastomers and Composites
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• 제55권4호
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• pp.270-276
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• 2020

The long-term durability of an FKM O-ring used as parts of a hydrogen station was investigated by exposing it to high-pressure gaseous hydrogen for 1, 3, and 7 days at room temperature. Changes in its sealing force were subsequently measured at 150℃ using intermittent compression stress relaxation (CSR). No changes in the tensile properties of FKM O-ring were observed, but its initial and overall sealing forces at 150℃ significantly decreased with increasing exposure time to hydrogen gas. Microvoid formation in the FKM O-ring upon exposure to high-pressure hydrogen was minimized over time after the ring was exposed to atmospheric pressure at room temperature, which prevented changes in its tensile properties. However, applying heat accelerated FKM O-ring oxidation, which decreased its sealing force. These results indicated that identifying changes in the sealing force of rubber materials using intermittent CSR is not sufficient for monitoring changes in mechanical properties under high-pressure hydrogen atmospheres; however, it is suitable for evaluating the long-term durability of sealing materials for hydrogen station applications under similar conditions.

• Tribology and Lubricants
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• 제20권5호
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• pp.231-236
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• 2004

Sulfur Hexafluoride, S $F_{6}$ is widely used for leak detection and as a gaseous dielectric in transformers, condensers and circuit breakers. S $F_{6}$ gas is also effective as a cleanser in the semiconductor industry. This paper presents a numerical study of the sealing force of disk type seal in S $F_{6}$ gas safety valve. The sealing force on the disk seal is analyzed by the FEM method based on the Taguch's experimental design technique. Disk seals in S $F_{6}$ gas safety valve are designed with 9 design models based on 3 different contact length, compressive ratio and gas pressure. The calculated results of Cauchy stress and strain showed that the sealing characteristics of Teflon $^{ }$PTFE is more effective compared to that of FKM(Viton), which is related to the stiffness of the materials. And also, the contact length of the disk seal is important design parameter for sealing the S $F_{6}$ gas leakage in the safety valve.afety valve.

• Tribology and Lubricants
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• 제10권4호
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• pp.82-88
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• 1994

This paper deals with a FEM computation as well as measurement of the contact force and distribution of the temperature in rubber lip seals when the sealing interference between the rotating shaft and the lip edge is present. The study of the contact forces and distributions of the temperature and the sealing contact stress has always been one of the basic steps in the process of designing a lip seal. The calculated FEM results indicate that as the sealing interference increases, the contact force moderately increases compared with decreased sealing interference at the seal lip edge and radically increases the contacting width. And the FEM computation of oontact forces including nonlinear problems has been compared with experimental measurements with good agreement. The frictional heat does not dissipate promptly in the rubber seal lip and tends to accumulate at the contacting lip edge especially.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2004년도 학술대회지
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• pp.209-212
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• 2004

The O-ring seal is a usual component part in various mechanical apparatuses for sealing that makes efficient performance of the equipments. The sealing performance of 0-ring is effected in environments of the O-ring seal, like that applied pressures, working temperatures, interferences and materials. In this paper, an pressurized, NBR O-ring is calculated by experimental methods and analysed numerically using the MARC finite element program. The calculated experimental and FEM results showed that the Contact force O-ring decreases as a function of temperature.