• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• Earthquakes and Structures
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• v.13 no.2
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• pp.151-164
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• 2017

This article aims to investigate the possible retrofitting of a deficient building with soft story failure mode by connecting it to an adjacent building which is designed based on current code with friction dampers at all floors. Low cost and high performance reliability along with significant energy dissipation pertaining to stable hysteretic loops may be considered in order to choose the proper damper for connecting adjacent buildings. After connecting two neighbouring floors by friction dampers, the sliding forces of dampers at various stories are set in two arrangements: uniform sliding force and then variable sliding force. In order to account for the stochastic nature of the seismic events, incremental dynamic analyses are employed prior and after the installation of the friction dampers at the various floors. Based on these results, fragility curves and mean annual rate of exceedance of serviceability and ultimate limit states are obtained. The results of this study show that the collapse mode of the deficient building can affect the optimum arrangement of sliding forces of friction dampers at Collapse Prevention (CP) performance level. In particular, the Immediate Occupancy (IO) performance level is not tangible to the sliding force arrangement and it depends solely on sliding force value. Generally it can be claimed that this rehabilitation scheme can turn the challenge of pounding two adjacent buildings into the opportunity of dissipating a large amount of the seismic input energy by the friction dampers, thus improving significantly the poor seismic performance of the deficient structure.

• Tribology and Lubricants
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• v.23 no.6
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• pp.255-260
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• 2007

This paper presents the contact pressure distribution of pin bushing bearings for various lubrication friction modes such as oil film and elastohydrodynamic lubrication contacts, a mixed lubrication contact, a boundary contact, and a dry contact. During a sliding contact of a plain bearing, the boundary and dry rubbing contacts are dominated between a piston pin and a pin bushing bearing. This may come from a micro-scale clearance, an explosive impact pressures from the piston head, and an oscillatory motion of a pin bearing. The computed results show that as the oil film parameter $h/{\sigma}$ is increased from the dry rubbing contact to the oil film lubrication friction, the maximum oil film pressure is radically increased due to an increased viscous friction with a thin oil film thickness and the maximum asperity contact pressure is reduced due to a decreased asperity contact of the rubbing surfaces.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.692-697
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• 2001

A precise tracking control scheme on the system in presence of nonlinear dynamic friction is proposed. In this control scheme, the standard SMC is combined with the nonlinear observer to estimate the dynamic friction state that is impossible to measure. Then this control scheme has the good tracking performance and the robustness to parameter variation compared with the standard SMC and the PiD based nonlinear observer control system. This fact is proved by the experiment on the ball-screw driven servo system with the dynamic friction model.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.2
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• pp.163-169
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• 2012

The brake squeal propensity associated with friction curve is investigated by using the hybrid finite element(FE)-analytical model. The modal analysis of an actual disc and pad is conducted by FE method. Also, the modeling for the accurate contact and disc rotation is analytically achieved. The eigenvalue analysis for the hybrid model provided the squeal dependency on the friction curve. Particularly, some pad modes and the disc torsion mode are shown to be sensitive for the friction curve.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.3
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• pp.56-64
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• 2000

A friction force measurement system using the floating liner method was developed to study the frictional behavior of piston rings. The measurement system was carefully designed to control the effect of the piston secondary motion and the temperature of cylinder wall and oil. The friction force between the barrel shaped piston ring and the cylinder liner, was measured under the condition of flooded oil supply. The measured friction forces were classified into five frictional modes with regard to the combination of predominant lubrication regimes(boundary, mixed and hydrodynamic lubrication) and stroke regions(midstroke and dead centers). The modes could be identified on the Stribeck diagram of the friction coefficients and the dimensionless number of ㎼/p, where the friction coefficients are evaluated at near the midstroke and dead centers.

• Journal of Power System Engineering
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• v.14 no.6
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• pp.83-88
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• 2010

The wear behavior of epoxy matrix composites filled with nano sized silica particles is discussed in this paper. Especially, the variation of the coefficient of friction and the wear resistance according to the change of apply load and sliding velocity were investigated for these materials. Wear tests of pin-on-disc mode were carried out and the wear test results exhibited as following ; The epoxy matrix composites showed lower coefficient of friction compared to the neat epoxy through the whole sliding distance. As increasing the sliding velocity the epoxy matrix composites indicated lower coefficient of friction, whereas the neat epoxy showed higher coefficient of friction as increasing the sliding velocity. The specific friction work of both materials were increased with apply load. In case of the epoxy matrix composites, the running in periods of friction were reduced as increase in apply load. The epoxy matrix composites were improved the wear resistance by adding the nano silica particles remarkably. It is expected that the load carrying capacity of the epoxy matrix composites will be improved by increase of Pv factor.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.311-317
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• 1997

DTG(dynamically tuned gyroscope) is a sensor detecting disturbance in angle velocity control loop of EOTS(electro optical tracking system), which is used for the stabilization of gimbal. DTG is classified into rate mode or rate integrated mode according to operating mode. In this paper, basic principles and characteristics of DTG, depending on to operating mode, are compared and the model of rate integrated mode DTG is proposed. Also, the validity of the presented model is verified by computer simulations and experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.3
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• pp.102-109
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• 2005

Wheel-slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. But, in order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force is required. For example, in the case of EHB (Electro-Hydraulic Brake) systems, the tire braking force cannot be measured directly, but can be approximated based on the characteristics of the brake disk-pad friction. The friction characteristics can change significantly depending on aging of the brake, moisture on the contact area, heat etc. In this paper, a wheel slip The proposed wheel slip control system is composed of two subsystems: braking force monitor and robust slip controller In the brake force monitor subsystem, the tire braking forces as well as the brake disk-pad friction coefficient are estimated considering the friction variation between the brake pad and disk. The robust wheel slip control subsystem is designed based on sliding mode control methods and follows the target wheel-slip using the estimated tire braking forces. The proposed sliding mode controller is robust to the uncertainties in estimating the braking force and brake disk-pad friction. The performance of the proposed wheel-slip control system is evaluated in various simulations.

• Journal of the Korean Society of Safety
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• v.20 no.1 s.69
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• pp.18-23
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• 2005

This study deals with the friction and wear characteristics of C-N coated SCM415 steel. The PSII(plasma source ion implantation) apparatus was built and a SCM415 test piece with steel substrate was treated with carbon nitrogen by this apparatus. The composition and structure of the surface layer were analyzed and compared with that of PVD(physical vapor decomposition) coated TiN layer. It was found that both of friction coefficient of C-N coating and TiN coating decreased with increasing load, however, C-N coating showed relatively lower faction coefficient than that of TiN coating. The micro-vickers hardness of C-N film is 3200 Hv, which is $32\~43\%$ higher than that of TiN film. The critical load of C-N film is 52N, which is $25\%$ higher than that of TiN film. The hardness of C-N film fabricated by Plasma ion implantation is $61\~70\%$ higher than that of base material, and faction coefficient is $14\~50\%$ lower than that of base material. It is also interesting to note that the friction was changed from adhesive wear mode to light oxidizing wear mode.