• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.7
• /
• pp.799-807
• /
• 2014

This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.5
• /
• pp.972-980
• /
• 2010

In this study, we introduce the design methodology of an optimized type-2 fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. The type-2 fuzzy cascade controller scheme consists of the outer controller and the inner controller as two cascaded fuzzy controllers. In type-2 fuzzy logic controller(FLC) as the expanded type of type-1 fuzzy logic controller(FLC), we can effectively improve the control characteristic by using the footprint of uncertainty(FOU) of membership function. The control parameters(scaling factors) of each fuzzy controller using HFCGA which is a kind of parallel genetic algorithms(PGAs). HFCGA helps alleviate the premature convergence being generated in conventional genetic algorithms(GAs). We estimated controller characteristic parameters of optimized type-2 fuzzy cascade controller applied ball & beam system such as maximum overshoot, delay time, rise time, settling time and steady-state error. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

• Journal of Advanced Marine Engineering and Technology
• /
• v.31 no.6
• /
• pp.753-760
• /
• 2007

For protection of the cylinder wall of the ball mill for grinding raw ore. the inner side of the cylinder is covered with rubber liner. The rubber is easily worn down because the rubber relatively soft compared with raw ore. So the rubber liner in the ball mill cylinder must be replaced almost every year and the cost for replacing rubber liner formidable. In this paper, for reducing or excluding the cost of replacing rubber liner the basalt liner is designed. The basalt materials are generally harder than raw ore and the basalt liner in the ball mill does not wear down and so it can be used almost permanently. The concave surfaces are made on the liner of the ball mill and the liner in the cylinder wall plays also the role of raising the steel balls mixed in the raw ore. The section profiles of the concave surface have an important effect on the performance of the ball mill. The deep concave grooves raise the steel balls to high levels and give the large potential energy to the steel balls impacting to the raw ore. But if the concave grooves are too deep. the steel balls raised too high by the concave grooves fly along the parabolic path and reach to the other side of cylinder wall and so the steel balls do not play the roles of grinding the raw ore. The forces acting to a steel ball in a concave groove of the cylinder liner are also analyzed in this paper. The formulas calculating the height and the impact point of the steel ball are introduced and presented. Based to these formulas, the optimum section profiles of the basalt liner are presented.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.3
• /
• pp.254-259
• /
• 2013

Ball screw system is widely used as a precision mechanical linear actuator that translates rotational motion to linear motion for its high efficiency, great stiffness and long life. Recently, according to the requirements of high accuracy and stiffness, the pre-load on the ball screw which means of remove the backlash in the ball screw is usually used. Because of the preload which means the frictional resistance between the screw and nut, becomes a dominating heat source and it generates thermal deformation of ball screw which is the reason for low accuracy of the positioning decision. There are several methods to solve the problem that includes temperature control, thermal stable design and error compensation. In the past years, researchers focused on the error compensation technique for its ability to correct ball screw error effectively rather than the capabilities of careful machine design and manufacturing. Significant amounts of researches have been done to real-time error compensation. But in this paper, we developed a series of cooling methods to get thermal equilibrium in the ball screw system. So we find the optimum cooling type for improving positioning error which caused by thermal deformation in the ball screw system.

• Korean Journal of Materials Research
• /
• v.26 no.11
• /
• pp.611-622
• /
• 2016

Particle morphology change and different experimental condition analysis during composite fabrication process by traditional ball milling with discrete element method (DEM) simulation were investigated. A simulation of the three dimensional motion of balls in a traditional ball mill for research on the grinding mechanism was carried out by DEM simulation. We studied the motion of the balls, the ball behavior energy and velocity; the forces acting on the balls were calculated using traditional ball milling as simulated by DEM. The effect of the operational variables such as the rotational speed, ball material and size on the flow velocity, collision force and total impact energy were analyzed. The results showed that increased rotation speed with interaction impact energy between balls and balls, balls and pots and walls and balls. The rotation speed increases with an increase of the impact energy. Experiments were conducted to quantify the grinding performance under the same conditions. Furthermore, the results showed that ball motion affects the particle morphology, which changed from irregular type to plate type with increasing rotation speed. The evolution was also found to depend on the impact energy increase of the grinding media. These findings are useful to understand and optimize the particle motion and grinding behavior of traditional ball mills.

• The Korean Journal of Rehabilitation Nursing
• /
• v.1 no.1
• /
• pp.15-25
• /
• 1998

The purposes of this study was to determine the effect of beach ball play in stroke patients, and to define the strategy to promote their depression, powerlessness, self-esteem, activity of daily living. The experimental design was designed non-equivalent control group, non-synchroniged design. The study method had been done by investigating the experimental group and control group through the questionnaire on 57 patients who had been in patient department in D University hospital in Pusan from January 5th 1998 to the end of February 28th, 1998. Beach ball play was carried out experimental group once per day for 10 minute's for two weeks period from Jan 1998 to Feb 1998. Data was collected before and after the experimenation. Collected data was analyzed by means of frequency, percentage, chi-square test, mean, S.D, t-test with SPSS/PC. The results were summarized as follows : 1. The 1st hypothesis : "The experimental group which received the beach ball play should be higher in depression than the control group" was supported(t=3.11, p=.003). 2. The 2nd hypothesis : "The experimental group which received the beach hall play should be higher in powerlessness than the control group" was supported(t=3.32, p=.002). 3. The 3rd hypothesis : "The experimental group which received the beach ball play should be higher in self-esteem than the control group" was not supported(t=-1.90, p=.064). 4. The 4th hypothesis : "The experimental group which received the beach ball play should be higher in activity of daily living than the control group" was not supported(t=-.47, p=.637). In conclusion, the patients who received beach ball play showed the increase in the degree of depression and powerlessness of stroke patients. So the beach ball play had been judged the nursing intervention to improve their emotional problem in stroke patients.

• Proceedings of the KWS Conference
• /
• 2009.11a
• /
• pp.74-74
• /
• 2009

카본나노튜브(CNT) 복합체는 우수한 기계적 성질을 가지고 있어 다양한 분야에서 연구되고 있다. 본 연구에서는 카본나노튜브(CNT)를 간단한 볼밀공정을 사용하여 Sn3.5Ag solder ball과 SAC305 powder 표면에 혼합하고 이를 통해 접합부 특성을 관찰하였다. 볼밀을 실시하기 전 카본나노튜브(CNT)는 초음파을 이용하여 분산을 실시하였다. Sn3.5Ag solder ball의 직경은 450um이고 SAC305 powder의 직경은 약 30um이었으며 이때 사용한 볼밀볼의 직경은 각각 3mm, 1mm이다. 볼밀 회전속도는 약 300rpm이고 6, 12, 18, 24시간동안 볼밀을 실시하였다. 24시간 볼밀 후에도 solder ball과 solder powder의 모양은 크게 변하지 않았다. SEM을 통해 표면을 관찰한 결과 분산된 카본나노튜브(CNT)는 solder ball과 solder powder의 표면에서 관찰되었다. 카본나노튜브(CNT)가 삽입된 solder ball은 BGA coupon 위에 놓고 Reflow를 실시하여 접합하였고 solder powder은 flux를 첨가하여 paste로 제조하여 2012 chip에 대한 접합특성을 관찰하였다. 카본나노튜브(CNT)는 solder ball 내부의 표면근처에서 관찰되었으며 카본나노튜브(CNT)가 혼합된 solder ball은 Aging 실시 후에 IMC 두께가 카본나노튜브(CNT)가 혼합되지 않은 solder ball에 비해 두께가 작고 접합강도는 약 10% 증가하였다. 또한 카본나노튜브(CNT)가 혼합된 solder paste와 카본나노튜브(CNT)가 혼합되지 않은 solder paste를 비교한 결과 인쇄성은 모두 양호하였으며 카본나노튜브(CNT)가 혼합된 paste를 사용한 chip의 전단강도가 높게 나타났다.

• Korean Chemical Engineering Research
• /
• v.56 no.2
• /
• pp.191-203
• /
• 2018

This study was investigated the effect of the morphology change of copper (Cu) powders under the different rotational speed and milling time by using three kinds of grinding media with different size and materials, and performed DEM simulations of ball behavior. In order to clarify the mechanism of grinding by three - dimensional simulations of the ball behavior in a traditional ball mill, the force, kinetic energy, and medium velocity of the grinding media were calculated. In the simulation, the amount of change of the input energy was also calculated by adjusting the rotational speed, ball material, kinetic velocity, and friction coefficient in the same as the actual experimental conditions. The scanning electron microscope results show that the particle morphology changes from irregular to spherical when the ball size is small.

• Journal of the Microelectronics and Packaging Society
• /
• v.16 no.2
• /
• pp.11-19
• /
• 2009

Thermo-mechanical behaviors of wire-bond plastic ball grid array (WB-PBGA) package assemblies are characterized by high-sensitivity moire interferometry. Using the real-time moire setup, fringe patterns are recorded and analyzed for several temperatures. Experiments are conducted for three types of WB-PBGA package that have full grid pattern and perimeter pattern with/without central connections. Bending deformations of the assemblies and average strains of the solder balls are investigated, with an emphasis on the effect of solder interconnection grid patterns, Thermal strain distributions and the location of the critical solder ball in package assemblies are quite different with the form of solder ball grid pattern. For the WB-PBGA-PC, The largest of effective strain occurred in the inner solder ball of perimeter closest to the chip solder balls. The critical solder ball is located at the edge of the chip for the WB-PBGA-FG, at the most outer solder ball of central connections for the WB-PBGA-P/C, and at the inner solder ball closest to the chip for the WB-PBGA-P.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.20 no.9
• /
• pp.63-69
• /
• 2021

This study aims to determine the flow characteristics of a one-inch small ball valve and glove valve used in industrial plants. The flow was changed through an experimental equipment, and the internal flow characteristics of the valves were compared. Considering the pressure drop, the decrease in the slope of the ball valve based on the degree of the valve opening was relatively greater than that of the glove valve; further, the slope of the glove valve was gentle while the pressure drop was high. The flow velocity of the ball valve remains consistent after the valve was opened by 70%, whereas the flow velocity of the glove valve constantly increased. The valve loss factor of the ball valve was relatively low compared with that of the glove valve. When the valve was opened by 20%, which is the beginning stage of the valve opening, the valve loss factor of the ball valve was high and gradually became low. This is a structural problem of the ball valve, and the loss factor is significant because the flow path installed at the ball valve has a considerably small area. However, the overall loss factor of glove valve is high because it has a complicated structure of flow path.