• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1262-1266
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• 2003

Fuzzy sliding mode controller for a class of uncertain nonlinear dynamical systems is proposed and analyzed. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved.

• Tribology and Lubricants
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• 제5권2호
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• pp.83-86
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• 1989

A wear transition mechanism during sliding in glass has been observed. Disk specimens of sodalime-silicate glass were slid against AISI 52100 steel with paraffin oil as lubricant. Observations of the micrrx structural change on the worn surface showed that semi-circular cone cracks (SCCCs) were suddenly produced after a certain critical sliding time. These SCCCs brought about the severe damage in the form of extensive microchipping during further sliding. It was shown that the abrupt appearance of the SCCCs is attributable to the grooves formed during sliding, which act as surface flaws.

• 한국정밀공학회지
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• 제24권2호
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• pp.86-94
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• 2007

In this paper, a dual stage servo mechanism has been developed for image tracking system to improve control performances such as small rise time, small overshoot, small settling time, small stabilization error etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving responses and attenuating the disturbance response related with dynamic coupling.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
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• pp.415-416
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• 2002

Experiments have been conducted to investigate scuffing mechanism in oil lubricated piston-ring /cylinder sliding contacts. Samples were extracted from actual components to simulate the real contact geometry and other influencing conditions. A standard test machine. with some modifications, has been used for the investigation of the effects of surface temperature load and sliding velocity. preliminary tests were carried out to find the critical temperature of scuffing using gradient temperature under a constant load, reciprocating frequency and stroke. The experimental and analytical results show that a transition from lubricated contact to adhesion, accompanied by the phenomena such as material transfer between the two sliding surfaces, local contact welding and temperature rise, and sharp increase in friction coefficient, appears to contribute to the final failure of scuffing.

• Tribology and Lubricants
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• 제11권4호
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• pp.13-20
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• 1995

The present study was undertaken to investigate the purity variation of the alumina ceramics on the water lubrication mechanism. The annular surface of wear testing specimens of the alumina ceramics with different alumina purity against STB2 was rubbed in the distilled water under various sliding speed, contact pressure and sliding distance. The friction coefficient decreased lowered with formation of corrosion products due to the tribochemical reation as the sliding speed and contact load was increased. With increased sliding speed, the lower purity of 85 percent contribute largely to even degree of the friction surface, even it have about $\mu$ of 0.3 degree by the influence of a pore and impurities SiO$_{2}$. The friction surface of ceramics protacted by oxide was transfer from STB2.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Geomechanics and Engineering
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• 제32권1호
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• pp.111-123
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• 2023

The slope of an open cut tunnel is located above the exit of the Leijia tunnel on the Changgan high-speed railway. During the excavation of the open cut tunnel foundation pit, the slope slipped twice, a large landslide of 92500 m³ formed. The landslide body and unstable slope body not only caused the foundation pit of the open cut tunnel to be buried and the anchor piles to be damaged but also directly threatened the operational safety of the later high-speed railway. Therefore, to study the stability change in the slope of the open cut tunnel under heavy rain and excavation conditions, a 3D numerical calculation model of the slope is carried out by Midas GTS software, the deformation mechanism is analyzed, anti-sliding measures are proposed, and the effectiveness of the anti-sliding measures is analyzed according to the field monitoring results. The results show that when rainfall occurs, rainwater collects in the open cut tunnel area, resulting in a transient saturation zone on the slope on the right side of the open cut tunnel, which reduces the shear strength of the slope soil; the excavation at the slope toe reduces the anti-sliding capacity of the slope toe. Under the combined action of excavation and rainfall, when the soil above the top of the anchor pile is excavated, two potential sliding surfaces are bounded by the top of the excavation area, and the shear outlet is located at the top of the anchor pile. After the excavation of the open cut tunnel, the potential sliding surface is mainly concentrated at the lower part of the downhill area, and the shear outlet moves down to the bottom of the open cut tunnel. Based on the deformation characteristics and the failure mechanism of the landslides, comprehensive control measures, including interim emergency mitigation measures and long-term mitigation measures, are proposed. The field monitoring results further verify the accuracy of the anti-sliding mechanism analysis and the effectiveness of anti-sliding measures.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.646-651
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• 2004

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.12-18
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• 2011

This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose a new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved.

• 한국세라믹학회지
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• 제33권6호
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• pp.718-724
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• 1996

Deformation mechanism map of Langdon-Mohammed type for YBa2Cu3O7-x superconducting ceramic was constructed by considering mechanisms of Nabarro-Herring Coble and powder-law creep and grain boundary sliding (GBS) with an accommodation by grain boundary diffusion. The map was found consistent with experi-mental results not only of the creep the also of the superplastic deformation. It showed the transition from interface reaction-controlled to the grain boundary diffusion-controlled GBS mechanism at about 1 ${\mu}{\textrm}{m}$ grain size and 100 MPa flow stress in agreement with the experimental results.