• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.468-472
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• 2013

This paper deals with the indoor localization problem for a SSMR (Skid Steering Mobile Robot) subjected to wheel-ground friction and with one LRF (Laser Range Finder). In order to compensate for some friction effect, a friction related coefficient is estimated by the recursive least square algorithm and appended to the maneuvering command. Also to reduce odometric information based localization errors, the lines are extracted with scan points of LRF and matched with the ones of the corresponding map built in advance. The present friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.188-193
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• 2005

Surface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.17-24
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• 2004

Surrface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern using photolithography on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.3 s.234
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• pp.411-417
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• 2005

Surface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern using photolithography on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• KSTLE International Journal
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• v.6 no.2
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• pp.51-57
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• 2005

Surface texturing of tribological applications is an attractive technology of engineered surface. Therefore, reduction of friction is considered to be necessary for improved efficiency of machines. The current study investigated the potential of textured micro-scale grooves on bearing steel flat mated with pin-on-disk. We discuss reducing friction due to the influence of sliding direction at surface pattern. We can indicate lubrication mechanism as a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for the lubrication condition. It was found that the friction coefficient was changed by the surface pattern and sliding direction, even when surface pattern was the same. It was thus verified that micro-scale grooves could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions. The lubrication regime influences the friction coefficient induced by the sliding direction of groove pattern. The friction coefficient depends on a combination of resistance force and hydrodynamic.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.339-348
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• 2010

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

• Journal of Korean Society of Forest Science
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• v.80 no.3
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• pp.317-325
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• 1991

Route projection of forest road involves several constraints ranging from construction cost to environmental impacts. This study is designed to assess the capability of computer-assisted map analysis techniques for deriving several alternatives of forest road planning. Three cartographic models are presented to address the limit of slope, soil erosion, and aesthetic value in designing forest roads over a relatively small size of mountainous forest. Primary spatial analysis techniques used are distance measurements and connectivity analysis. The fundamental approach used was to generate a set of friction maps in which each friction map represents a combined restriction for a forest road projection. Products of the spatial analysis are compared by both qualitative and quantitative methods. The results demonstrate that computer-assisted map analysis has a potential to solve rather complex problems of forest road planning by providing several alternatives effectively.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.253-259
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• 2014

This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.

• Proceedings of the Korean Nuclear Society Conference
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• 1999.05a
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• pp.115-115
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• 1999

To demonstrate the applicability of RELAP5 to the prediction of the onset offlooding in the hot leg at the reflux condensation phase during mid-loop operation, numerical analysis is performed for the counter-current flow in a horizontal pipe with the inclined riser using the RELAP5/MOD3.2.2b code. It is found that the RELAP5, simulating the CCFL phenomena using interfacial friction along with the flow regime map in the horizontal pipe, produces unsatisfactory results. Under the CCFL condition, it is observed that large oscillation exists in the flow rate, void fraction, and etc. and the liquid flow rate is much lower than that predicted by the CCFL model measured in the experiment. The CCFL model of RELAP5 for the vertical volume is extended to the model for the horizontal and inclined volumes. The horizontal volume flow regime map and interfacial friction model coupled to the CCFL model are modified. And a new correlation developed from Kang's experiment is implemented to the CCFL model of RELAP5. With this modified RELAP5, the analysis of CCFL phenomena in the horizontal pipe and hot leg geometry is performed, and produces reasonable results in comparison with experimental data.

• Journal of the Korean Society of Safety
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• v.14 no.4
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• pp.3-12
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• 1999

This research concentrates on the influence of non-linearities associated with impact for the nonlinear rocking behavior of rigid block subjected to one dimensional sinusoidal excitation of horizontal direction. The transition of two governing rocking equations, the abrupt reduction in the kinetic energy associated with impact, and sliding motion of block. In this study, two type of rocking vibration system are considered. One is the undamped rocking vibration system, disregarding energy dissipation at impact and the other is the damped rocking system, including energy dissipation and sliding motion. The response analysis using non-dimensional rocking equation is carried out for the change of excitation parameters and friction coefficient. The chaos responses were discovered in the wide response region, particularly, for the case of high excitation amplitude and their chaos characteristics were examined by the time history, Poincare map, power spectra and Lyapunov Exponent of rocking responses. The complex behavior of chaos response, in the phase space, were illustrated by Poincare map. The bifurcation diagram and Poincare map were shown to be effective in order to understand chaos of rocking system.