• 로봇학회논문지
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• 제13권3호
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• Geomechanics and Engineering
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• 제28권6호
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• pp.585-598
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• 2022

The monopile-friction wheel hybrid foundation is an innovative solution for offshore structures which are mainly subjected to large lateral eccentric load induced by winds, waves, and currents during their service life. This paper presents an extensive numerical analysis to investigate the lateral load and moment bearing performances of hybrid foundation, considering various potential influencing factors in sand-overlaying-clay soil deposits, with the complex lateral loads being simplified into a resultant lateral load acting at a certain height above the mudline. Finite element models are generated and validated against experimental data where very good agreements are obtained. The failure mechanisms of hybrid foundations under lateral loading are illustrated to demonstrate the effect of the friction wheel in the hybrid system. Parametric study shows that the load bearing performances of the hybrid foundation is significantly dependent of wheel diameter, pile embedment depth, internal friction angle of sand, loading eccentricity (distance from the load application point to the ground level), and the thickness of upper sandy layer. Simplified empirical formulae is proposed based on the numerical results to predict the corresponding lateral load and moment bearing capacities of the hybrid foundation for design application.

• Earthquakes and Structures
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• 제12권5호
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• pp.515-527
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• 2017

Recently, Friction dampers become popular due to the desirable performance in the energy dissipation of lateral loads. A lot of research which has been conducted on these dampers results in developing friction dampers with low sensitivity to the number of cycles and temperature increases. Friction dampers impose high residual drifts to the buildings because of low post-yield stiffness of the damper which results from increasing lateral displacement and period of buildings. This issue can be more critical under strong aftershocks which results in increasing of structural damages. In this paper, in addition to the assessment of aftershock on steel buildings equipped with friction dampers, methods for controlling residual drifts and decreasing the costs of retrofitting are investigated. Utilizing rigid connections as a lateral dual system and activating lateral stiffness of gravity columns by adding elastic braces are as an example of effective methods investigated in this research. The results of nonlinear time history analyses on the low to medium rise steel frames equipped with friction dampers illustrate a rise in residual drifts as the result of aftershocks. In addition, the results show that different slip loads of friction damper can affect the residual drifts. Furthermore, elastic stories in comparison to rigid connections can reduce residual drifts of buildings in an effective fashion, when most slip loads of friction dampers are considered.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2002년도 봄 학술발표회 논문집
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• pp.583-588
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• 2002

As environmental problem in course of construction has been a matter of interest, noise and vibration in the process of piling are considered as a serious problem. For this reason, the use of SIP method inserting pile as soon as boring and cement grouting is rapidly increasing for preventing vibration and noise. But a resonable bearing capacity formula for SIP method does not exit and even the standard specification for domestic condition isn't formed, though the lateral friction between cement paste and the ground does an important role and boring depth largely influences to the design bearing capacity, applying the SIP method . Therefore, the lateral friction was analyzed after the direct shear test worked with the lateral face of SIP and the soil.

• KSTLE International Journal
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• 제7권1호
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• pp.5-9
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• 2006

The main principle of two widely used methods which were proposed by Ruan and Bhushan, and by Ogletree and Carpick are introduced. Experiments were conducted using the two methods to measure friction force between AFM probe and silicon sample quantitatively. To characterize the frictional properties, the conversion factors of the two methods by which lateral electronic signal is converted into actual friction force were calculated. The experimental results show that that the conversion factors were extraordinarily different from each other. Further research should be done to identity the reasons for these differences.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2001년도 제33회 춘계학술대회 개최
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• pp.36-41
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• 2001

In this work, the changes in the friction force(lateral force) with respect to nanoscale geometric variation were investigated using an Atomic Force Microscope and a Lateral Force Microscope. It could be concluded that the changes in the friction force correspond well to the slope change rather than the surface slope itself, and that the influence of slope change on the frictional behavior is dependent on the magnitude of the slope and the torsional stiffness of the cantilever. Also, the nominal friction force is found to be more significantly affected by the material and the physical-chemical state of the surface rather than by nanoscale geometric steps. However, the change in nanoscale geometric details of the surface cause instantaneous change and slight variation in the friction signal.

• Tribology and Lubricants
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• 제23권1호
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• pp.9-13
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• 2007

Despite numerous researches on atomic-scale friction have been carried out for understanding the origin of friction, lots of questions about sliding friction still remain. It is known that friction at atomic-scale always shows unique phenomena called 'stick-slips' which reflect atomic lattice of a scanned surface. In this work, experimental study on the effects of system stiffnesses and load on the atomic-scale stick-slip friction of graphite was performed by using an Atomic Force Microscope and various cantilevers/tips. The objective of this research is to figure out the dependency of atomic-scale friction on the nanomechanical properties in sliding contact such as load, stiffness and contact materials systematically. From this work, the experimental observation of transitions in atomic-scale friction from smooth sliding to multiple stick-slips in air was first made, according to the lateral cantilever stiffness and applied normal load. The superlubricity of graphite could be verified from friction vs. load experiments. Based on the results, the relationship between the stickslip behaviors and contact stiffness was carefully discussed in this work. The results or this work indicate that the atomic-scale stick-slip behaviors can be controlled by adjusting the system stiffnesses and contact materials.

• Geomechanics and Engineering
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• 제32권1호
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• pp.97-110
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• 2023

The coefficient of lateral earth pressure at rest in loose sand during virgin loading, K₀ , and during unloading, K'₀ , have been determined from laterally confined load-unload tests. The tests included measurement of lateral pressure with null pressure gauges, side wall friction with newly designed friction meters and applied pressure and base pressure with load cells. The importance of accounting for side-wall friction when evaluating the distribution of vertical pressure over the height of the soil specimen was demonstrated. Relatively uniform friction was observed during loading, but this was not the case during unloading unless friction reduction measures were employed. While the measured value of K₀ was found to be close to, if slightly higher than the value commonly estimated on the basis of friction angle, φ', the ratio of K'₀ to K₀ was found to reasonably fit an expression of the form K'₀/K₀ = 1 + C·log(OCR), with C equal to 1 in the present tests.

• 한국철도학회논문집
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• 제20권3호
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• pp.299-310
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• 2017

본 연구에서는 3-piece 마찰 웨지 화차의 주행성능을 예측하기 위해 ADAMS/View에서 독립하중 마찰 웨지 모델을 개발하였다. 마찰 웨지 모델은 볼스터의 좌우, 수직방향에 따른 마찰을 각각 구현해줄 수 있다. 개발된 마찰 웨지 모델은 ADAMS/Rail 차량 모델에 적용하여 동역학 해석 결과를 얻었다. 대상차량은 임계속도 210km/h를 가진다. 직선 안정성 해석에서 UIC518에 근거해 차체의 횡, 수직방향 한계 가속도에 만족하는 것을 확인하였다. 300R 곡선에서 해석 적용 속도는 70km/h로 UIC518에 근거해 차체, 대차의 한계 가속도에 만족하였다. 또한 "철도차량 안전기준에 관한 규칙"의 윤중감소율, 횡압, 탈선계수에 만족하는 것을 확인하였다.

• 한국자동차공학회논문집
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• 제24권3호
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• pp.310-318
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• 2016

The demands for vehicle safety systems such as ABS and ESC have been increased. Accurate vehicle state estimation is required to realized the abovementioned systems and tire-friction coefficient is crucial information. Estimation of lateral tire-road friction coefficient using pneumatic trail information is mainly dealt in this paper. Pneumatic trail shows unique characteristics according to the wheel side slip angle and these property is highly sensitive to vehicle lateral motion. The proposed algorithm minimizes the use of conventional tire models such as magic formula, brushed tire model and Dugoff tire model. The pure side slip maneuver, which means no longitudinal dynamics, is assumed to achieve the ultimate goal of this paper. A simulation verification using Carsim and Simulink is performed and the results show the feasibility of the proposed algorithms.