• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.488-493
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• 2011

The object of this study is to develope the program for analyzing the fluid flow and heat transfer of PMSM electric motor. The program will be mainly used for inexperienced users of CFD analysis. So it has to be performed using the geometry data and the heat source of each part only. Interface program for converting the given data to the instruction of pre-processor is developed. The conjugate heat transfer between a flow passage of the motor and inner parts consisting of rotor and stator is regarded. In order to reduce the computational time and memory storage, cyclic boundary condition is applied. For the numerical simulation, MRF(Multi-Reference Frame) method is used to consider rotating operation of the rotor and heat source is applied to the copper, wire, and magnetic parts in the motor. On the screen of computer, the users can show the velocity distributions and the contours such as pressure, turbulent kinetic energy, turbulent dissipation rate and temperature.

• Journal of Advanced Marine Engineering and Technology
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• 제21권4호
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• pp.437-442
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• 1997

An experimental study was carried out in a channel cavity with square heat surface by visual¬ization equipment with Mach - Zehnder interferometer and laser apparatus. The image processing system consists of one commercial image board slit into a personal computer and 2-dimensional sheet light by Argon-Ion Laser with cylindrical lens and flow picture recording system. Instant simultaneous velocity vectors at whole field were measured by 2-D PIV system which adopted two¬frame grey-level cross correlation algorithm. Heat source was uniform heat flux(o.4W/cm$^2$, , O.8W/cm$^2$, 1.2W/cm$^2$). Obtained result showed various flow patterns such as kinetic energy distribution. Severe unsteady flow fluctuation within the cavity are remarkable and sheared mixing layer phenomena are also found at the region where inlet flow is collided with the counter-clockwise rotating main primary vortex. Photographs of Mach ~ Zehnder are also compared in terms of constant heat flux.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2038-2046
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• 1997

In this paper the instability of the system which has a disk and a mass-spring-damper system interacting through a medium having stiffness and damping is analyzed. To solve the equations of motion of this systme, it is assumed that the solution consists of the eigenfunctions which are the products of the Bessel functions and sine or cosine functions. The former represents the radial characteristics of the disk and the latter represents the circumferential characteristics. Using this assumed solution and the orthogonality of the eigenfunctions, the equations of motion can be transformed into a set of equations of motion with variables dependent only on the time. After this set is changed to the state equation, the eigenvalue problem can be made. Once the eigenvalues are calculated according to the angular velocity of the disk, the dynamic characteristics ofthis system is obtained. Because the thickness of the disk and the element characteristics of the mass-spring-damper system have important effects on the stability of the system, it will be understood how these factors affect the system and then a method to ameliorate the stability of the system with a disk will be presented.

• 대한기계학회논문집
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• 제19권10호
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• pp.2617-2629
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• 1995

The flow through a centrifugal compressor rotor was calculated using the quasi-3-dimensional and fully 3-dimensional Navier-Stokes solution methods. The calculated results, obtained during the development of the computer codes for both methods are discussed. In the inviscid quasi 3-dimensional analysis, stream function formulation was used for the blade to blade (B-B) plane calculations, and the streamline curvature method was used for the meridional (H-S) plane calculations. In the viscous 3-dimensional flow analysis, a control volume method based on a general rotating curvilinear coordinate system was used to solve the time-averaged Navier-Stokes equations, and a standard k-.epsilon. model was used to obtain eddy viscosity. The quasi-3-dimensional analysis reasonably predicts the pressure distributions and requires much less computation time in the region where viscous effects are not strong; however, it fails to predict velocity field and loss mechanism through the impeller passage. The viscous 3-dimensional flow analysis shows reasonable pressure distributions and typical jet-wake flow field through the impeller passage. Secondary flow and total pressure distributions on cross-sectional planes explain the loss mechanisms through the impeller.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.816-821
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• 2003

The pumping characteristics of a disk-type drag pump (DTDP) from free molecular flow region to the slip flow region are calculated by the direct simulation Monte Carlo (DSMC) method. In this study, the pumping performance is studied numerically for several channel depths. The interaction between molecules is modeled by variable hard-sphere (VHS). The no time counter method is used as a collision sampling technique. The clearance between rotor and stator is considered an effect on performance. Spiral channels are cut on both upper and lower sides of rotating disks, and stationary disks are planar. A three-dimensional DSMC method for the analysis of steady rarefied flows in a single-stage DTDP has been developed. Velocity and density fields were obtained by the DSMC simulation in the rotor. The present experimental data in the outlet pressure range of $7.5{\times}10^{-3}{\sim}4$ Torr were compared with the DSMC results in the single-stage DTDP. Comparison between the experimental data and DSMC results showed good agreement.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.863-868
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• 2003

Mixers are used in various industrial fields where it is necessary to intimately mix two reactants in a short period of time. However, despite their widespread use, complex unsteady flow characteristics of industrial mixers are not systematic investigated. The present study aimed to clarify unsteady flow characteristics induced by various impellers in a tank. Impellers arc hydrofoil turbine and neo-hydrofoil turbine types. A high speed CCD camera and an Ar-Ion laser for illumination were adopted to clarify the time-dependent flow characteristics of the mixers. The rotating speed of impellers increased from 6Hz to 60Hz by 6Hz, The maximum velocity around neo-hydrofoil impeller is higher than the hydrofoil type impeller. These two types of turbine shows that typical flow characteristics of axial turbine and suitable for mixing high-viscosity materials.

• 한국기계가공학회지
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• 제18권12호
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• pp.7-14
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• 2019

A marine turning gear controls the position of the piston-crank mechanism by rotating the flywheel of the marine engine at a low speed, which is the main auxiliary machine that enables the disassembly and maintenance of the engine. In this study, the safety factor for surface durability and tooth bending strength was improved by the design modification of the marine turning gear based on the spur planetary gear. Angular velocity, torque, and efficiency of the turning gear were measured using a reliability evaluation tester, and a multibody dynamics model for analysis corresponding to the test results was developed. Finally, it was confirmed that the design improvements improved the tooth surface damage of the sun gear in the 3^rd reduction stage.

• 한국자동차공학회논문집
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• 제20권5호
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• pp.44-52
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• 2012

Fuel cell electric vehicles have some noise problems due to its air processing unit which is required to feed the ambient air into the fuel cell stack. Discrete-frequency noises are radiated from a centrifugal blower due to rotor-stator interaction. Their fundamental frequency is the blade passing frequency, which is determined by the number of rotor blades and their rotating speed. To reduce such noises, multi-chamber perforated muffler has been designed. In this paper, in order to improve the transmission loss of a perforated muffler, the relationship between the impedance model of a perforated hole and its noise reduction performance is studied, and the applicability of a short-length perforated muffler to air processing unit of fuel cell system is described using acoustic simulation results and experimental data. The acoustic velocity vector across the neck of a perforated hole is very important design factor to optimize the transmission of an intake muffler. The suggested short-length perforated muffler is effective on discrete-frequency noises while keeping the volume of intake muffler minimized.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.