• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1997.04a
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• pp.80-88
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• 1997

Repeated sliding contact wear test was performed with copper specimens to obtain the relationship between wear and surface hardening. Wear surface and wear track section were observed by optical microscopy. Wear volume and micro-vikers hardness of sublayer below wear surface were obtained. These results suggested that wear mechanism depended on contact load than sliding velocity. Therefore wear mechanism was abrasive wear within critical contact load and adhesive wear over critical contact load. Wear rate increased with contact load, sliding distance but decreased with sliding velocity. Surface hardening increased with sliding velocity and sliding distance but decreased with contact load.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.522-525
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• 1995

A manipulation of a multiple contacted object by a Rotational Base and Single-jointed Finger mechanism(RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. The conditions for manipulation of an object at multiple contacts by the RBSF mechanism, which cannot exert arbitrary contact forces because it has a fewer number of joints than is required for active control, is presented.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.12
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• pp.3404-3412
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• 1994

The present study was undertaken to investigate the dry wear process and wear mechanism of the alumina ceramics in the purity variation which are used for the mechanical seal, roll, liner and dies. The wear test was carried out under different experimental condition using the wear testing device and in which the annular surface rubbed on dry sliding condition various sliding speed, contact pressure and sliding distance. In case of alumina purity 95%, there was speed range which wear loss increased rapidly owing to enlargement of heat impact force and temperature rise of wear surface. According as the alumina purity increased, wear loss decreased but alumina purity 85% with much void and defect had the most wear loss than any other alumina purity. The friction coefficient of sliding initial stage of wear curves has a large value but according to increase of sliding distance, it decreased owing to drop of the shear strength of wear surfaces.

• Tribology and Lubricants
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• v.12 no.1
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• pp.22-28
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• 1996

This study was undertaken to investigate the dry wear characteristics and mechanism of KP-4M steel for plastic molding against SKD 61 hardened by heat treatment. The wear test was carried out under different conditions such as sliding speed, contact pressure, sliding distance, with frictional tester of pin on disc type. The wear loss on variation of sliding speed was little in lower speed range below 0.5 m/sec and in higher speed range above 1.5 m/sec,'but wear loss was high in intermediate speed range. The critical sliding speed, which showed the maximum value of specific wear rate, became lower with increased contact pressure. Increasing the contact pressure, the critical sliding distance Lcr which the wear mechanism changes from severe wear to mild wear was increased due to the decrease of oxidation reaction velocity. Through this study we suggested a model of generation and elimination process of wear debris of KP-4M steel for plastic molding.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.624-627
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• 2000

An adaptive fuzzy sliding-mode control system which combines the merits of sliding-mode control the fuzzy inference mechanism and the adaptive algorithm is proposed. A fuzzy sliding-mode controller is investigated in which a simple fuzzy inference mechamism is used to estimate the upper bound of uncertainties., The fuzzy inference mechanism with centre adaptation of membership functions is investigated to estimate the optimal bound of uncertainties.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.05a
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• pp.421-424
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• 2007

Dry sliding wear behavior of ultra-fine grained (UFG) plain low carbon dual phase steel, of which microstructure consists of hard martensite in a ductile ferrite matrix, has been investigated. The wear characteristics of the UFG dual phase steel was compared with that of a coarse grained dual phase steel under various applied load conditions. Dry sliding wear test were carried out using a pin-on-disk type tester at various loads of 1N to 100N under a constant sliding speed condition of 0.20m/s against an AISI 52100 bearing steel ball at room temperature. The sliding distance was fixed as 1000m for all wear tests. The wear rate was calculated by dividing the weight loss, measured to the accuracy of 10-5g by the specific gravity and sliding distance. The worn surfaces and wear debris were analyzed by SEM, EDS and profilometer. Micro-vickers hardness of the cross section of worn surfaces were conducted to analyze strain hardening underneath the contact surfaces. The wear mechanism of the UFG dual phase steel was investigated with emphasis on the unstable nature of the grain boundaries of the UFG microstructure.

• Transactions of Materials Processing
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• v.16 no.4 s.94
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• pp.299-303
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• 2007

Dry sliding wear behavior of ultra-fine grained(UFG) plain low carbon dual phase steel, of which microstructure consists of hard martensite in a ductile ferrite matrix, has been investigated. The wear characteristics of the UFG dual phase steel was compared with that of a coarse grained dual phase steel under various applied load conditions. Dry sliding wear test were carried out using a pin-on-disk type tester at various loads of 1N to 100N under a constant sliding speed condition of 0.20m/s against an AISI 52100 bearing steel ball at room temperature. The sliding distance was fixed as 1000m for all wear tests. The wear rate was calculated by dividing the weight loss, measured to the accuracy of 10-5g by the specific gravity and sliding distance. The worn surfaces and wear debris were analyzed by SEM, EDS and profilometer. Micro-vickers hardness of the cross section of worn surfaces were conducted to analyze strain hardening underneath the contact surfaces. The wear mechanism of the UFG dual phase steel was investigated with emphasis on the unstable nature of the grain boundaries of the UFG microstructure.

• Nuclear Engineering and Technology
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• v.54 no.5
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• pp.1644-1651
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• 2022

This paper focuses on the power-level control of nuclear power plants (NPPs) in the presence of lumped disturbances. An adaptive second-order nonsingular terminal sliding mode control (ASONTSMC) scheme is proposed by resorting to the second-order nonsingular terminal sliding mode. The pre-existing mathematical model of the nuclear reactor system is firstly described based on point-reactor kinetics equations with six delayed neutron groups. Then, a second-order sliding mode control approach is proposed by integrating a proportional-derivative sliding mode (PDSM) manifold with a nonsingular terminal sliding mode (NTSM) manifold. An adaptive mechanism is designed to estimate the unknown upper bound of a lumped uncertain term that is composed of lumped disturbances and system states real-timely. The estimated values are then added to the controller, resulting in the control system capable of compensating the adverse effects of the lumped disturbances efficiently. Since the sign function is contained in the first time derivative of the real control law, the continuous input signal is obtained after integration so that the chattering effects of the conventional sliding mode control are suppressed. The robust stability of the overall control system is demonstrated through Lyapunov stability theory. Finally, the proposed control scheme is validated through simulations and comparisons with a proportional-integral-derivative (PID) controller, a super twisting sliding mode controller (STSMC), and a disturbance observer-based adaptive sliding mode controller (DO-ASMC).

• Transactions of Materials Processing
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• v.15 no.2 s.83
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• pp.112-117
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• 2006

Sliding wear mechanism of a high nitrogen austenitic 18Cr-18Mn-2Mo-0.9N steel has been investigated. Dry sliding wear tests of the steel were carried out at various loads of IN-10N under a constant sliding speed condition of 0.15m/s against AISI 52100 bearing steel balls. Solution ($1050^{\circ}C$) and isothermal aging ($900^{\circ}C$) heat treatments were performed on the steel and the effect of the heat treatments on the wear was investigated. Wear rates of the solution-treated steel specimen remained low until 5N load, and then increased abruptly at loads above 5N. The rates of isothermally aged specimens were low and increased gradually with the applied load. Worn surfaces, their cross sections, and wear debris of the steel specimens were examined with a scanning electron microscopy. Phases of the heat-treated specimen and the wear debris were identified using XRD. The transformed phase underneath a sliding track was investigated and analyzed using a TEM. Effects of the phase transformation during the wear and $Cr_{2}N$ precipitates formed during the isothermal aging on the wear of the austenitic steel were discussed.