• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• 동력기계공학회지
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• 제11권3호
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• pp.16-21
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• 2007

Three dimensional numerical study was carried out to investigate the effect of aspect ratio on microchannel flow. We considered five straight rectangular channels with aspect ratios (height/width) 0.2, 0.4, 0.6, 0.8 and 1.0. Nitrogen gas flow was investigated for both slip and noslip wall boundary conditions. Isothermal wall condition was assumed. We used control volume method for this simulation. The slip velocity increases with the increase of aspect ratio. Friction coefficient decreases with the increase of aspect ratio. Slip friction coefficient is lower than noslip friction coefficient. Mass flow rate of slip model is higher than that of noslip model. We compared our results with the experimental result reported in the literature. The agreement was good.

• 한국안전학회지
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• 제25권3호
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• pp.15-21
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• 2010

A differential case equipped with LSD(limited slip differential) has several advantages over a normal type for rear wheel drive vehicles. Specially, the torque distribution can be done between left and right drive wheel in the state of limited slip differential. Also although LSD types are very various according to operating type, medium and torque distribution, a multi-clutch type is generally applied to rear wheel drive vehicles. So, this study presents the analysis of design parameters for development of a friction plate for multi-clutch type LSD using vehicle road test, the simulation of analytical model and the development of vehicle dynamics model by a benchmark product. According to this investigation, the design parameters which are pre-load of coil spring, friction plate and contact area quantity, friction coefficient and TBR(torque bias ratio) for a friction plate are derived from experiment and simulation and consequently, vehicle dynamics model has been constructed for the development of friction plate for multi-clutch type LSD.

• Advances in concrete construction
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• 제17권4호
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• pp.221-232
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• 2024

As a supplemental energy dissipation device, friction dampers are widely employed to augment the behaviour of buildings under seismic forces. In the current work, a methodology for the design of the friction damping system of RC frame buildings is offered using performance-based plastic design (PBPD) method. Here 2% of maximum interstorey drift ratio for life safety (LS) level is taken into account as a target drift to estimate the design base shear. In this approach, the distribution of friction damper is determined based on the hysteretic energy demand of that storey. Two frames, five storey three bay (5S3B) and eight storey three bay (8S3B) RC frame building with and without friction damping systems are also taken up for the investigation. The suggested design approach is validated by the nonlinear time history analysis (NLTHA) procedure. Inter story drift ratio (ISDR) and storey displacement, which are the more closely related to structural damage during seismic excitation are evaluated. The results show that the friction damping system on a retrofitted RC frame building performs effectively under seismic excitations and that storey displacement and ISDR are within the limit at moderate and high seismic intensities.

• 설비공학논문집
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• 제26권4호
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• pp.175-180
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• 2014

Experimental investigations of the heat transfer and friction factors in the ribbed divergent rectangular channel with the channel exit hydraulic diameter to inlet hydraulic diameter ratio of 1.16 were performed. The surface heaters were mounted onto the two opposite walls. The main experimental parameter is the ratio of rib pitch (p) to height (e), at which the ratios (p/e) of 6, 10, and 14 are considered in the channel with ribs on one wall only. The straight ribbed square channel is also considered as a comparison. The major findings are that the ratio of p/e = 6 shows the highest values in the heat transfer and the ratio of p/e = 10 indicates the greatest friction factor in the ribbed divergent channel. Editor's note:No major changes or corrections needed. Well written.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.813-820
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• 2003

The shear friction tests using large direct shear test units were performed to evaluate the friction properties of fiber-mixed soil. The used materials and test conditions were flowing. Soils : SM and ML; mixing fibers : three types of polypropylene fibers(net type 38mm and 60mm, and line type 60mm), reinforcement : geogrid; mixing ratio：0.2% and 0.3%; degree of compaction : 85% and 95%. In the test results, the reinforcing effect of fiber mixed soil was confirmed.

• 한국전산구조공학회논문집
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• 제23권4호
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• pp.435-443
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• 2010

본 연구에서는 MR(Magneto-Reological)제어기가 설치된 단자유도 구조물의 응답을 예측하기 위하여 구조물의 운동방정식을 해석적으로 분석하고 주요변수를 파악하였다. MR제어기의 수치 모델로는 마찰 및 점성감쇠로 단순모델한 Bingham모델을 사용하였다. 자유진동과 조화진동일때의 응답감쇠를 결정짓는 주요변수가 각각 마찰력과 최대정적복원력의 비 $R_f$, 마찰력과 최대조화가진력의 비 $R_h$ 임을 파악하였다. 비선형 미분방정식을 등가의 선형 미분방정식으로 변환하기 위하여 마찰력에 의한 에너지 소산을 등가의 점성에너지로 치환하여 등가점성감쇠와 등가점성감쇠비를 유도하였다. 마지막으로 등가선형화과정을 검증하기 위하여 실제 지진에 대한 구조물의 응답을 비선형 미분방정식의 해와 비교하였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집B
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• pp.241-247
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• 2001

A comparison of fully developed heat transfer and friction factor characteristics has been made in rectangular ducts with ones roughened by five different shapes. The effects of rib shape geometries and Reynolds number are examined. The rib height-to-duct hydraulic diameter, pitch-to-height ratio, and aspect ratio of channel width to height are fixed at e/De=0.0476, P/e=8, and W/H=2.33, respectively. To understand the mechanisms of the heat transfer enhancements, the measurements of the friction factors are also conducted in the smooth and rough channels. The data indicates that the triangular type rib has a substantially higher heat transfer performance than any other ones in the range we studied.

• 설비공학논문집
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• 제13권5호
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• pp.341-347
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• 2001

A comparison of fully developed heat transfer and friction factor characteristics has been made in rectangular ducts with ones roughened by five different shapes. The effects of rib shape geometries and Reynolds number are examined. The rib height-to-duct hydraulic diameter, pitch-to height ratio, and aspect ratio of channel width to height are fixed at $e$/De=0.0476, P/$e$=8, and W/H=2.33, respectively. To understand the mechanisms of the heat transfer enhancements, the measurements of the friction factors are also conducted in the smooth and rough channels. The data indicates that the triangular type rib has a substantially higher heat transfer performance than any other ones in the range we studied.

• Journal of Advanced Marine Engineering and Technology
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• 제29권3호
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• pp.281-289
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• 2005

An experimental study on the heat transfer and friction characteristics of a fully developed turbulent air flow in a square channel with $45^{\circ}$ inclined ribs on one, two, and four walls is reported. Tests were performed for Reynolds number ranging from 7,600 to 24,900. The pitch-to-rib height ratio, p/e, was kept at 8 and rib height-to-channel hydraulic diameter ratio, $e/D_h$, was kept at 0.0667. The heat transfer coefficient and friction factor values were enhanced with the increase in the number of ribbed walls. Results of this investigation could be used in various applications of internal channel turbulent flows involving different number of roughened walls.