• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.137-142
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• 1998

This paper describes a simple vector control scheme for the wound rotor type induction motors(WRIM) without the additional speed sensor in order to remove the external resistor bank which is usually adapted for the WRIM speed control. The motor angular speed is obtained indirectly from the slip angular speed is obtained indirectly from the slip angular speed and the slip angular speed is estimated by detecting the rotor currents only. Because the motor parameters are not included in the estimation algorithm, the proposed algorithm is free from the variation of the motor parameters and the robust sensorless vector control can be achieved. The performance of the proposed scheme is verified through the digital simulation.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.485-493
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• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1306-1309
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• 1997

Fabric hand feeling is an important property used in apparel industry. This paper shows a sensing method to output a fiber whisker's stick slip vibration by scanning it on the fabric. Then the vibration waveforms are transformed to the Symmetrized Dot Pattern images. Experimental results show that SDP images of fiber whisker's stik slip is potentially useful to the detection of fabric hand feeling values.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.149-152
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• 2008

FBG sensor system is applied to the concrete lining structure in Taegu subway. Near the structure, the power cable tunnel construction started. We wanted to measure the deformation of the structure due to the construction by the FBG sensor. The applied sensor has the gauge length of 1 meter to overcome the inhomogeneity of the concrete material with enough length. In order to fix tightly to the structure, the partially stripped parts of the sensor glued to the package and slip phenomenon between fiber and acrylate jacket was prevented. Prestrain of the sensor was imposed by controlling the two fixed points with bolts and nuts in order to measure compressive strain as well as tensile strain. The behavior of subway lining structure could be monitored very well

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.6
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• pp.607-613
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• 2008

A monitoring system for the subway structures using prestrained FBG sensors fixed with partially stripped fibers was developed. The sensor packages had pre-strain controllable fixtures. Tensile and compressive strain of the structure could be measured without slip. The FBG sensor system was applied to the concrete lining structure in Taegu subway. Near the structure, the narrow tunnel construction, for the electric power cables and telecommunication cables, started. We wanted to measure the deformations of the subway structures due to the construction by the FBG sensor. The applied sensors had the gauge length of 1 meter to overcome the inhomogeneity of the concrete material with enough length. In order to fix tightly to the structure, the partially stripped parts of the sensor glued to the package and slip phenomenon between fiber and acrylate jacket was prevented. Prestrain of the sensor was imposed by controlling the two fixed points with bolts and nuts in order to measure compressive strain as well as tensile strain. The behavior of subway lining structure could be monitored very well.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.377-383
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• 2011

The paper is to perceive accurately speed of the train through redundant processor operation. When Slip/slide is occurred at the axle, the train is applied brake force using the Tachometer and the Doppler sensor which assistance equipment. One of the main features of railway signaling system is that rolling stock is made stop to avoid collision with the rolling stock ahead when the rolling stock exceeds its maximum operating speed in line. In addition, in the case of the rolling stock with automatic train operation, it carries out activities such as braking and propulsion using the difference between its actual speed and target speed at the point. To perform these functions, it is essential to calculate the exact speed of the rolling stock in signaling equipment on vehicles. Train speed detection unit are composed of the Tachometer and the Doppler sensor, and speed information is sent to the SDU unit. The processor of SDU unit calculates the speed of the train using compare logic the received speed information. Even if there are Slip/Slide, signaling system is available to apply exact braking, to improve stop on position and to guarantee the safety of trains.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.4
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• pp.313-320
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• 2005

Stick-slip friction is one of the material removal mechanisms in tribology. It occurs when the static friction force is larger than the dynamic friction force, and make the friction curve fluctuated. In the friction monitoring of chemical mechanical polishing(CMP), the friction force also vibrates just as stick-slip friction. In this paper, an attempt to show the similarity between stick-slip friction and the friction of CMP was conducted. The prepared hard pa(IC1000/Suba400 stacked/sup TM/) and soft pad(Suba400/sup TM/) were tested with SiO₂ slurry. The friction force was measured by piezoelectric sensor. According to this experiment, it was shown that as the head and table velocity became faster, the stick-slip time shortened because of the change of real contact area. And, the gradient of stick-slip period as a function of head and table speed in soft pad was more precipitous than that of hard one. From these results, it seems that the fluctuating friction force in CMP is stick-slip friction caused by viscoelastic behavior of the pad and the change of real contact area.

• Journal of the korean Society of Automotive Engineers
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• v.4 no.3
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• pp.48-55
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• 1982

In the present the strain gauge type torque transducers consist of solid shaft as sensor, slip ring, brush and bridge circuit as detecting circuit. So in the case of measuring the low-capacity torque, the error caused by technical mistake in mounting stain gauge on the small sensor and especially by contact resistance between slip ring and brush takes place more than the large sensor. Therefore in this study constant voltage in order to have no effect of contact resistance is supplied to the hollow shaft and Schrobron Bridge Circuit. Through the experiment good results were obtained as follows; linearity, hysterisis and zero drift as static characteristics is within 1% F.S respectively. Also when loading, zero drift is about 2% F.S.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.6
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• pp.635-642
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• 2004

In electric motor coaches. the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control based on disturbance observer and sensor-less vector control. The numerical simulation and experimental results point out that the proposed readhesion control system has the desired driving wheel torque response for the tested bogie system of electric coach. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.