• 한국생산제조학회지
• /
• 제19권1호
• /
• pp.121-127
• /
• 2010

We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.

• Tribology and Lubricants
• /
• 제5권2호
• /
• pp.94-100
• /
• 1989

Friction and Wear behavior of continuous graphite fiber composites was studied for different fiber orientations against the sliding direction. The effect of fiber orientation on friction and wear of the composite and on the deformation of the counterface was investigated experimentally. Pin on disk type testing machine was built and employed to generate the friction and wear data. A graphite fiber composite plate was produced by the bleeder ply molding in an autoclave and machined into rectangular pin specimens with specific fiber orientations, i.e., normal, transverse, and longitudinal directions. Three different wear conditions were employed for two different periods of time, 24 and 48 hours. The wear track of the worn specimens and the metal counterface was examined with a scanning electron microscope (SEM) to observe the damaged fibers on the surface and wear film generation on the counterface. Wear mechanism of the composite during sliding wear is proposed based on the experimental results.

• KSTLE International Journal
• /
• 제1권2호
• /
• pp.91-94
• /
• 2000

The friction and wear behavior of MoS$_2$coatings was investigated using a pin and disk type tester. The experiment was conducted with silicon nitride as the pin material and MoS$_2$-on-bearing steel as the disk material under different operating conditions that included linear sliding velocities within a range of 2266 mm/sec, normal loads varying from 9.829.4 N, corresponding to maximum contact pressures of 1.782.83 Gpa, and high vacuum, medium vacuum, and ambient air atmospheric conditions. The results showed a low friction coefficient far the coating in a high vacuum, plus the friction coefficient and wear volume increased with an increased normal load. Furthermore, under high load conditions, the friction coefficient and wear volume also increased with an increased sliding velocity.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 2000년도 가을 학술발표회논문집(I)
• /
• pp.81-86
• /
• 2000

In recent modern protective systems have been introduced to reduce the vulnerability of bridges to seismic events. These protective systems include base isolation devices of different types, damping devices and active control devices. The objective of this study is to analytically evaluate the efficiency of a seismic retrofit scheme using base isolation systems, such as lead rubber bearings and sliding isolators. In this study, a triaxial model was used, which is capable of accurately developing the behavior of sliding isolators including the influence of the changing vertical force and velocity on the friction coefficients. Seismic response analyses of the bridge before and after retrofit were carried out by using a three-dimensional nonlinear seismic analysis program, IDARC-BRIDGE. To evaluate the efficiency of a retrofit scheme using triaxial isolators, a comparative study of performances of above two base isolation systems was conducted, and the numerical results show that the triaxial isolation solution can effectively reduce the sheat forces at the piers for the vertical ground motion.

• 한국해양공학회지
• /
• 제16권6호
• /
• pp.44-48
• /
• 2002

In lateral ground flow, slope stability, and land slide problems, H-piles have often been used, on a horizontally deforming ground, to prevent the failure of mass of soil in a downward and outward movement of a slope. Here, theoretical equations are derived to estimate the lateral force, assuming that the Mohr-Coulomb's plastic states occur in the ground, just around H-piles. In this study, some model experiments were performed to check the lateral forces determined from theoretical equations, using several pile widths, heights and various interval ratios between H-piles for sand specimens. The solution of the theoretical equation, derived from previous studies, showed reasonable characteristics for constants of soil, as well as for the interval, widths, and heights of H-Pile.

• 한국복합재료학회:학술대회논문집
• /
• 한국복합재료학회 2004년도 추계학술발표대회 논문집
• /
• pp.180-184
• /
• 2004

The tribological behavior of carbon epoxy composites whose surfaces have many small grooves of $100\mu m$ width was experimentally investigated with respect to the sliding direction against groove orientation, surface pressure (P) and velocity (V). The wear mechanism of the composites was observed to calculate the wear volume with respect to the friction coefficient using scanning electron microscopic (SEM). Experimental results show that the abrasive wear is dominant wear mechanism for the grooved composite surface and the friction and wear are greatly reduced when the sliding direction is parallel to the axis of groove because abrasive particles are removed through the grooves effectively.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.664-669
• /
• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• Earthquakes and Structures
• /
• 제7권6호
• /
• pp.969-999
• /
• 2014

Aim of the paper is the definition of optimal design parameters characterizing the isolation system of a bridge, both in the case of elastomeric (VI) and sliding bearings (SI), having viscoelastic or rigid-plastic behavior, respectively, installed between the piers and the deck. The problem is treated by means of an analytical approach. Using the frequency response analysis, a simple procedure is proposed to determine the optimal value of the viscous coefficient or the yield displacement of the isolators. The adequacy of the proposed procedure is finally verified through time-history analyses performed on a practical case under natural earthquakes.

• Tribology and Lubricants
• /
• 제22권1호
• /
• pp.8-13
• /
• 2006

Sliding wear tests have been performed to evaluate the effect of normal load decrease on the wear depth of nuclear fuel rods in room temperature air. The objectives of this study are to quantitatively evaluate the supporting ability of spacer grid springs, to estimate the wear depth by using the contacting force decrease and to compare the wear behavior with increasing test cycles (up to $10^7$) at each spring condition. The result showed that the contacting load decrease depends on the spring shape and the applied slip amplitude. The estimated wear depth is smaller when compared with measured wear depth. Based on the test results, the wear mechanism, the role of wear debris layer and the spring shape effect were discussed.

• 한국윤활학회:학술대회논문집
• /
• 한국윤활학회 1999년도 제30회 추계학술대회
• /
• pp.94-100
• /
• 1999

The friction and wear behavior of MoS$_2$Coatings were investigated using a pin and disk type tester. The experiment was conducted using silicon nitride as pin material and MoS$_2$-on-bearing steel as disk material under different operating conditions that include linear sliding speeds in the range of 22~66mm/sec, normal loads varying from 9.8~29.4N, corresponding to maximum contact pressure of 1.78~2.830GPa and atmospheric conditions of high vacuum, medium vacuum, ambient air. The results showed that low friction coefficient of the coating has been identified when running in high vacuum and that friction coefficient and wear volume increased with increasing normal load. Also at high load conditions, the friction coefficient and wear volume increased with increasing sliding velocity.