• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• Journal of the Korean Geophysical Society
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• v.9 no.4
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• pp.291-299
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• 2006

The observed ocean barotropic circulation is not completely explained by the classical wind-driven circulation theory. Although it is believed that the thermohaline forcing plays a role in the ocean barotropic circulation to some degree, how much the thermohaline forcing contributes to the barotropic circulation is not well known. The role of thermohaline circulation driven by changes in temperature and salinity in the Southern Ocean (SO) water masses on the Antarctic Circumpolar Current (ACC) transport is investigated using a coupled ocean - atmosphere - sea ice - land surface climate system model in a Last Glacial Maximum (LGM) context. Withthe implementation of glacial boundary conditions in a coupled model, a substantial increase in the ACC transport by about 75% in 80 years of integration and 25% in the near LGM equilibrium is obtained despite of the decreases in the magnitude of wind stresses over the SO by 33% in the transient time and 20% in the near-equilibrium. This result suggests that the increase in the barotropic ACC transport is due to factors other than the wind forcing. The change in ocean thermohaline circulation in the SO seems to play a significant role in enhancing the ACC transport in association with the change in the bottom pressure torque.

• The KSFM Journal of Fluid Machinery
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• v.15 no.4
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• pp.67-71
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• 2012

This study analyzed performance changes by an inner flow path of impeller groove for side channel type ring blower using CFD. Two models have the same side channel and clearance while one has an inner flow path and the other doesn't. To analyze the performance change of a ring blower, overall performance and local flow field were analyzed. For the overall performance, pressure increase and impeller torque were checked under the design flow condition. Under the design flow condition, pressure increase was greater for the model with the inner flow path. The model with the inner flow path showed improved efficiency because the area subject to torque decreased due to the creation of inner flow path. To analyze local flow field, a section was created from the representative location of each impeller groove toward the direction of radius. Inner channel pressure distribution depending on the rotation direction shows that the model with the inner flow path has pressure equilibrium of working fluid through the inner flow path. Velocity distribution of inside impeller groove shows that flow field was coupled and appeared to form an inner wall where the flow field was stabilized.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• Journal of Biosystems Engineering
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• v.43 no.1
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• pp.1-13
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• 2018

Purpose: The development of compact tractors that can be used in dry fields, greenhouses, and orchards for pest control, weeding, transportation, and harvesting is necessary. The development and performance evaluation of power transmission units are very important when it comes to tractor development. This study evaluates the performance of a driving power transmission unit of a 50 kW multi-purpose narrow tractor. Methods: The performance of the transmission and forward-reverse clutch, which are the main components of the driving power transmission unit of multi-purpose narrow tractors, was evaluated herein. The transmission performance was evaluated in terms of power transmission efficiency, noise, and axle load, while the forward-reverse clutch performance was evaluated in terms of durability. The transmission's power transmission efficiency accounts for the measurement of transmission losses, which occur in the transmission's gear, bearing, and oil seal. The motor's power was input in the transmission's input shaft. The rotational speed and torque were measured in the final output shaft. The noise was measured at each speed level after installing a microphone on the left, right, and upper sides. The axle load test was performed through a continuous equilibrium load test, in which a constant load was continuously applied. The forward-reverse clutch performance was calculated using the engine torque to axle torque ratio with the assembled engine and transmission. Results: The loss of power in the transmission efficiency test of the driving power unit was 6.0-9.7 kW based on all gear steps. This loss of horsepower was equal to 11-18% of the input power (52 kW). The transmission efficiency of the driving power unit was 81.5-89.0%. The noise of the driving power unit was 50-57 dB at 800 rpm, 70-77 dB at 1600 rpm, and 76-83 dB at 2400 rpm. The axle load test verified that the input torque and axle revolutions were constant. The results of the forward-reverse clutch performance test revealed that hydraulic pressure and torque changes were stably maintained when moving forward or backward, and its operation met the hydraulic design standards. Conclusions: When comprehensively examined, these research results were similar to the main driving power transmission systems from USA and Japan in terms of performance. Based on these results, tractor prototypes are expected to be created and supplied to farmhouses after going through sufficient in-situ adaptability tests.

• Journal of Applied Reliability
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• v.12 no.3
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• pp.165-176
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• 2012

Hydrostatic bearing improves performance and life time of a product by avoiding solid friction and reducing viscosity friction with the help of creating pressure equilibrium between two faces doing relative motion. This study suggests failure analysis and test evaluation for a ball joint that adopts the hydrostatic bearing and introduces the entire process to improve reliability of the product by design improvement. A typical failure is growth of friction torque by solid friction, and its failure cause is determined and the improvement is proposed. Finally, reliability improvement is established by analysis of the results of before and after acceleration test.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.5-156
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• 2001

Stabilized tracking platform in a missile consisting of a flat planar antenna, pitch/yaw gimbals, gear trains, and current controlled DC drive motors for pitch and yaw gimbal must have a capability to track a target as an inertial sensor in the presence of missile body motion such as maneuvering and vibration. Because of this reason, tracking a target from dynamic platform requires a servo architecture that includes a outer tracking loop(position loop) and inner rate loop that stabilizes the line of sight(LOS). This paper presents a gimbaled platform model including nonlinear phenomena due to viscous and Coulomb friction based on experimental data and torque equilibrium equation, the design concept for the inner tacholoop having P controller structure ...

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.1
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• pp.96-102
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• 1999

Sensorless speed estimation in induction motor systems is one of the most control engineers. Based on the estimated speed the vector control has been applied to the high precision torque control however most speed estimation methods use adaptive scheme so that it takes long time to estimate the speed. Thus the adaptive estimation scheme is not effective to the induction motor which requires short sampling time. In this paper a new linearized equation of induction motor system is proposed and a sensorless speed estimation algorithm based on observation techniques is developed. First the nonlinear induction motor equation is linearized at an equilibrium point. Second a proportional integral(PI) observer is applied to estimate the speed state in the induction motor system. Finally simulation results will assure the effectiveness of the new linearized equation and the sensorless estimation algorithm by using PI observer in the nonlinear induction motor system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.4
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• pp.446-453
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• 1997

The superconducting winding in rotor of a superconducting generator should be kept at extremely low temperature of 4-5 K to maintain the superconducting state. For this purpose the liquefied helium is used for the coolant and it is very important to analyze and design a cooling system making effective use of the coolant. In this paper, the typical heat exchanger of a superconducting generator with the flow passage is analyzed with regard to the thermal equilibrium. An experimental constant relevant to the flow condition in the flow passage is determined with heat exchange experiments in cryostat. Also a new heat exchanger with porous material is proposed and designed. Results of the numerical analysis for the temperature distributions for the torque tube and the coolant are reported and the efficiency of the heat exchanger is discussed from the viewpoint of amounts of coolant needed.