• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.459-464
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• 2000

In this paper, it verifies the relationships between wheel velocity and surface roughness with the mirror surface grinding using electrolytic in-process dressing (ELID). In the general, as wheel velocity is high, surface roughness is better on the base of grinding theory. However, the relationships between wheel velocity and surface roughness is undefined due to the effect of electro-chemical dressing and the characteristics of materials. According to above relationships, ELID grinding experiment is carried out by following the change of wheel velocity. As the result of this study, it is found that surface roughness is not better as linearly as the increase of wheel velocity, but the limit of wheel velocity exists according to the characteristics of materials. Also, in contradiction to the present trend of high wheel velocity of manufacturing system for high surface integrity, it is able to expected to the base on the development of new ultra precision grinding method with the practicality of mirror surface grinding using ELID grinding method.

• 대한조선학회논문집
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• 제50권4호
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• pp.248-254
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• 2013

In this paper, we establish an analysis algorithm and a design procedure for a Vane-Wheel which is a freely rotating device behind a propeller, by using a panel method. Vane-Wheel's function is to extract energy from the propeller slipstream in turbine part which is inner part of the Vane-Wheel, and convert this energy into an additional propulsive thrust in propeller part which is outer part of the Vane-Wheel. Two parts must satisfy torque balance and thrust has to act to the ship's forward direction. A Vane-Wheel has large interaction effect with propeller since it is placed behind of the propeller. Therefore, in order to consider interaction effect correctly, incoming velocity to the Vane-Wheel in a circumferential mean wake was calculated considering induced velocity from propeller to the Vane-Wheel. Likewise, incoming velocity to the propeller was calculated considering induced velocity from the Vane-Wheel to the propeller. This process is repeated until a converged result is obtained.

• 플랜트 저널
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• 제6권2호
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• pp.62-69
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• 2010

The stability of coal pulverizer in the 800 MW coal-fired plants is vital to maintain their performance. Thus, this study analyzed the uneven abrasion of the deflector and coal spillage due to the air velocity maldistribution in the vane wheel of a bowl-type pulverizer as it is a possible cause for problems of facility using pulverized coal. In addition, air flow in the underbowl of a bowl-type pulverizer was studied to check air velocity maldistribution in the vane wheel using numerical method. In an attempt to correct the maldistribution of air velocity, air flow of the modified duct vane was studied as enlarging the length of the duct vanes installed at the air inlet duct of the pulverizer and increasing the angle of inclination. It was found that modified duct vane make the velocity distribution at the vane wheel uniform. formed by the duct vanes installed at the air inlet duct of the pulverizer and swirling flow is the major factor in making the velocity distribution of vane wheel exit uniform. This can prevent the uneven abrasion of the deflector, which is one of the components inside the pulverizer and coal spillage.

• 전자공학회논문지S
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• 제34S권11호
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• pp.63-72
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• 1997

The design and implementation of a drive wheel position, orientation, and velocity feedback control algorithm for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Drive wheel position, orientation, and velocity feedback control directly minimize the most siginificant error by coordinating the motion of the two drive wheels. The drive wheel position, orientation, and velocity feedback control algorithm is analyzed and experiments are conducted to evaluate its performance. The experimental results are shown that drive wheel position, orientation and velocity feedback control algorithm yields substantially smaller position and orientation errors than those of conventional methods.

• 한국정밀공학회지
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• 제20권3호
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• pp.58-65
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• 2003

Vehicle acceleration data from an accelerometer and wheel speed data from standard, 50-tooth antilock braking system wheel speed sensors are used to estimate the absolute longitudinal speed of a vehicle. We develop the four velocity estimation algorithms. And we compare experimental results with the Butterworth filtered speed from the fifth wheel and find that it is possible to estimate absolute longitudinal vehicle speed during a hard braking maneuver lasting three seconds.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.372-377
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• 2015

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

• 전자공학회논문지
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• 제54권7호
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• pp.127-132
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• 2017

이 논문에서는 모델 기반 설계에 근거한 이륜 도립진자 로봇의 제어이득을 설계하고 NXT 마인드스톰과 RobotC 언어를 이용하여 수업에 활용 가능한 로봇을 제작 및 실험한다. 이륜 도립진자 로봇은 NXT 마인드스톰, 서보 직류전동기, 자이로 센서, 가속도 센서로 구성된다. 직류전동기에 내장된 엔코더를 이용하여 바퀴의 회전각을 검출하며 이동평균을 이용하여 바퀴의 회전각속도를 계산한다. 자이로 센서는 몸체의 피치 각속도를 측정하며 가속도 센서는 몸체의 피치 각도를 측정한다. 자이로와 가속도의 센서 융합을 통해 몸체 각도를 계산한다. 제어기 이득 요소는 휠 각도, 휠 각속도, 몸체 피치 각도, 몸체 피치 각속도에 대한 가중치이다. 이들 제어이득의 변화에 따른 도립진자 로봇의 변화를 실험하며 유용성을 확인한다.

• 한국기계가공학회지
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• 제7권4호
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• pp.142-148
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• 2008

This study aims to find the optimal cutting conditions, which are obtained by grinding condition, and the grinding characteristics and condition of constant velocity joint were investigated with respect to wheel velocity, depth of cut, feed speed. Grinding machine has been widely used in manufacturing optical reflects of metal. Such as steel are easy to be machined because of their proper material. As a result I obtained the data of grinding conditions makes good surface roughness and the optimal condition of grinding and get the mesh condition. The purpose of this study is to find the optimum grinding wheel characteristics for cutting constant velocity joint.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.958-962
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• 2010

Most of operating railways in domestic, it is used to be Wheel flange lubricator system applied liquid spray type. Wheel flange lubricator are reduced the abrasion of wheel flange through spraying in accordance with operating on the curve or operating function of time base and/or distance base. this paper is written to introduce and study the efficiency for the angular velocity sensing type of lubricant systems.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.