• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.6
• /
• pp.83-89
• /
• 1997

In order to study on fatigue crack retardation and retardation mechanism in variable loading, the effects of crack tip branching in fatigue crack growth retardation were examined. The characteristics of crack tip banching behavior was considered to micro structure. It was examined that the variation of crack tip branching angle. Crack tip branching was observed along the grain boundary of ferrite and pearlite structure. It was found that the abanching angle ranges from 25 to 53 degrees. Using the finite element method, the variable of crack driving force to branching angle was examined. The effective crack driving force ( $K_{\eff}$ ) decreased as the braching angle increases. The rate of decrease was 33% for the kinked type and 29% for the forked one. It was confirmed that the effect of crack tip branching is a very important factor in fatigue crack growth retardation. Therefore, crack branching effect should be considered building the hypoth- etical model to predict crack growth retardation.

• The Journal of Korea Robotics Society
• /
• v.11 no.1
• /
• pp.26-32
• /
• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.2
• /
• pp.65-71
• /
• 2008

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.362-370
• /
• 1996

Even if the shock absorber is developed to Variable S/A or Active S/A, it is necessary to construct data-base or build the dynamic performance characteristic program of Oil S/A. Since both Variable S/A and Active S/A are based on the principle of Oil S/A. To obtain the design technique of Oil S/A, we model the damping mechanism and characteristics of an Oil S/A whose performance was testified. And then it is analyzed the dynamic behaviour characteristics of damping mechanism.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.12
• /
• pp.1222-1229
• /
• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.6
• /
• pp.28-36
• /
• 1997

Even if the shock absorber is developed to Variable S/V or Active S/A, it is necrssary to construct database or bulid the dynamic performance characteristic program of Oil S/A. Since both Variable S/A and Active S/A are based on the principle of Oil S/A. To obtain the design technique of Oil S/A, we model the daping mechanism and characteristics of an Oil S/A whose performance was testified. And then it is analyzed the dynamic behaviour characteristics of damping mechanism.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.720-724
• /
• 2004

This paper introduces a new type of driving mechanism for rescue robot that has a variable geometry single-track which satisfies the pre-conditions of rescue robot. This mechanism is a symmetric configuration that has dual directions and prepares against overturn. By using transformation, it can reduce the energy consumption in steering and rotating. And also it maximizes the ability to overcome obstacles, like steps. It is designed to make the size of robot compact and to have the low center of gravity in driving on steps. Finally, we optimized the design variables of components determining the shape of reverse-trapezoid frame to enhance the adaptability to 4 phases of climbing steps.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.299-300
• /
• 2006

The camera and reduction mechanism that are equipment outdoors camera for general CCTV are miniaturization trend gradually. The foreign countries began to sell variableness speed type camera drivels that do DC voltage by motive power recently. But, Domestic is state that enterprise which has technology connected with this does not exist. We need optimum control program design, an internal organs technology, actuator interface and a driver design technology that have position control special quality of high accuracy as a necessary technology for CCTV camera drivers. Also, we need detailed mechanism design and a manufacture technology of camera drivers that behave variable speed essentially.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.741-744
• /
• 2002

The closed circuit pump is applied to control rotating speed and direction of hydraulic motor in hydrostatic transmission. To development of this pump, first of all the servo control regulator has to be designed. Mechanical-hydraulic type servo control mechanism is excellent to be compared with electronic-hydraulic type servo control valve to reliability and economy. In this paper to development positive and negative variable displacement type servo regulator, the hydro-mechanical servo control mechanism is calculated and designed with force balance of pilot piston and position feedback of servo piston.

• The Transactions of the Korea Information Processing Society
• /
• v.6 no.3
• /
• pp.742-749
• /
• 1999

This paper proposes the mechanism of cell buffering in the output buffer of ATM switch for the traffic with the different QOS in the ATM environment. The proposed mechanism, VQS(Variable Queue Sharing) can minimize the cell loss ratio(CLR) of bursty traffic through the sharing of CBR queue, VBR queue, ABR queue to maximize the utilization of queue resource. To evaluate VQS performance, we make simulator using Visual Slam 2.0. We compare the CLP and cell average delay of VQS and HOL, QLT_HOL using the bursty traffic patterns.