• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.353-360
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• 2016

In this paper, a DOB (disturbance observer) is designed for the steering stabilization of one-wheeled balancing robot. Based on the simple stick model of the single-wheeled robot, DOBs and the corresponding Q filters are designed. Although the proposed models are simple, DOBs are desired to deal with model uncertainties for the enhanced balancing performance. Experimental studies of two different cases of Q filter design are conducted to evaluate the performances of DOBs. Their performances are compared through balancing control experiments.

• Journal of the military operations research society of Korea
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• v.3 no.1
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• pp.97-107
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• 1977

This report examines several models, such as random or area bombardment, salvo fire and pattern fire, for the computation of target coverage when multiple rounds are fired at a target. Fractional kill of a fragment sensitive target by a fragmenting projectile as a function of the number of rounds fired is compared for two salvo fire models. The first is a standard salvo fire model in which N rounds are fired at the same aim point, in the second model single kill probability is computed for a fragment sensitive target and then fractional kill from the firing of N rounds is computed according to the assumption that the effects of each round are independent. Because the method of solution becomes very laborious for large patterns, this report gives a method only for the case of evaluating the effectiveness of stick and trianglar pattern fire. The need for the sophisticated and complicated target coverage models is demonstrated by the results of computations performed in this report.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.11
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• pp.123-129
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• 2016

Disturbance Observer(DOB) based control is considered for the purpose of the balancing performance enhancement in a single-wheel robot. Design of DOB can be folded into two parts, the inverse model of the plant and the Q-filter. The inverse model is derived from the inverted stick model and a Q-filter is designed to stabilize the inverse model. In this paper, a Q31 filter is designed and its effect is evaluated by experimental studies. The time constant provides a complimentary characteristic between the disturbance suppression and the sensor noise immunity. Therefore, suitable selection of the time-constant must be considered. Comparative experiments are conducted to investigate the control performances when three different Q filters are respectively applied in the DOB. Through the analysis of the experimental results, a time constant is designed to have a proper value in the design of DOB for balancing control of a single-wheel robot.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.24 no.7
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• pp.554-558
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• 2011

Piezoelectric energy harvester (PEH) as a box type was fabricated in order to harvest mechanical energy imparted to roadways from passing vehicles and convert it into electricity. The PEH was composed of 72 piezoelectric cantilevers with 9 springs with elasticity stick to a bottom of the PEH. For the single piezoelectric cantilever, when a single push with approximately 5 mm displacement was incident to it, power of 0.355 mW was produced at $100\;k{\Omega}$. It is found that the power from the single piezoelectric cantilever increases when spring constant is high. We investigated power of PEH when the moving vehicle passes in it. Power was increased with increasing vehicle speed. When vehicle speed is 30 km/h, power is 20.6 mW.

• Korean Journal of Materials Research
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• v.23 no.8
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• pp.453-461
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• 2013

Controlling the stick and slip motions of the contact lines in a confined geometry comprised of a spherical lens with a flat substrate is useful for manufacturing polymer ring patterns. We used a sphere on a flat geometry, by which we could control the interfaces of the solution, vapor and substrate. By this method, hundreds of concentric ring-pattern formations of a linear conjugated polymer, poly [2-methoxy-5-(2-thylhexyloxy)-1,4-phenylenevinylene] (MEH-PPV), were generated with excellent regularity over large areas after complete solvent evaporation. Subsequently, the MEH-PPV ring patterns played a role as a directed template to organize highly regular concentric rings of single-walled carbon nanotubes(SWCNTs); when a droplet of the SWCNT suspension in water was casted onto the prepared substrate, hydrophobic polymer patterns confined the water dispersed SWCNTs in between the hydrophilicized $SiO_2/Si$ substrate. As the solvent evaporated, SWCNT-rings were formed in between MEH-PPV rings with controlled density. Finally, we used a lift-off process to produce SWCNT patterns by the removal of a sacrificial polymer template with organic solvent. We also fabricated a field effect transistor using self-assembled SWCNT networks on a $SiO_2/Si$ substrate.

• Tribology and Lubricants
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• v.17 no.5
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• pp.351-357
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• 2001

Tribological behavior of NAO type brake linings containing different volume ratios of graphite and Sb$_2$S$_3$ was investigated using a scale dynamometer. Three different test modes consisting of stop, drag, and fade tests were employed to elucidate the effect of the solid lubricants on brake performance. Results of this work showed that the two solid lubricants, graphite and Sb$_2$S$_3$, significantly affected friction characteristics at various braking situations. Compared with the brake linings containing a single lubricant, the brake linings containing both solid lubricants showed better friction stability due to the synergistic effect of the two disparate lubricants during the stop and the drag test. In particular, in the case of containing two solid lubricants, the brake lining with higher contents of graphite showed better fade resistance than others.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.492-497
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• 2013

In this study, a parametric study is performed to investigate the squeal noise of an automobile water pump. The squeal noise studied in this paper is generated by the self-excited torsional resonance of the rotating shaft, and this noise is related to the stick-slip phenomenon of the mechanical seal in the water pump. The mechanical seal friction has the characteristics of the negative velocity-gradient. The equations of motion of multiple-degree-of-freedom torsional vibration model is constructed by the Holzer's method and then the equation is transformed to an equivalent single-degree-of-freedom torsional resonance simulation model. A squeal noise criteria is determined by the simulation model to perform the parametric study. The design parameters(the mass moment of inertia of the pulley, the mass moment of inertia of the impeller, the length of the shafts, the radius of the shafts, spinning speed of the shafts, the position of the mechanical seal, radius of the mechanical seal, and normal load of the mechanical seal) are investigated to confirm the stability for the squeal noise.

• International Journal of Automotive Technology
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• v.5 no.1
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• pp.61-67
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• 2004

This paper suggests two simple two-degree-of-freedom models to describe the dynamical interaction between the pad and the disc of a disc brake system. Separate models for in-plane and out -of-plane vibration are described. Although a brake pad and disc have many modes of vibration, the interaction between a single mode of each component is considered as this is thought to be crucial for brake noise. For both models, the pad and the disc are connected by a sliding friction interface having a velocity dependent friction coefficient. In this paper, it is shown that this friction model acts as negative damping in the system that describes the in-plane vibration, and as negative stiffness in system that describes the out-of-plane vibration. Stability analysis is performed to investigate the conditions under which the systems become unstable. The results of the stability analysis show that the damping is the most important parameter for in-plane vibration, whereas the stiffness is the most important parameter for the out-of-plane vibration.

• Tribology and Lubricants
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• v.32 no.6
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• pp.207-211
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• 2016

To interpret the perception that originates from tactile sensibility during people touch and recognize the object surfaces, this study focuses on the development of a friction model that can describe the interaction of a stylus pen sliding over the counter surfaces. In addition, the study includes several other experimental factors such as the pressure, temperature, and topology of surface, which can have an effect on the emotional user experience concerning various surfaces; this research aims to suggest a method to quantitatively evaluate the relation between these experimental parameters and emotional user experience. Accordingly, the objective of research comprises the friction characteristic technology for measurement of fine tribological behavior and a standard to quantify the emotional feedback. Existing panels or input devices that provide interaction feedback about user actions simply operate with a single frequency vibration or sound response. On the contrary, this research investigates various interaction characteristics including friction force, frequency, and surface topology synthetically. Using the developed model, which can explain the relation between the friction parameters and emotional user experience, developers can design their product in order to provide the user with expected emotional sensibility. Consequently, it can contribute to reduce the development cost about sensitivity model.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.7
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• pp.624-630
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• 2013

In this study, a parametric study is performed to investigate the squeal noise of an automobile water pump. The squeal noise studied in this paper is generated by the self-excited torsional resonance of the rotating shaft, and this noise is related to the stick-slip phenomenon of the mechanical seal in the water pump. The mechanical seal friction has the characteristics of the negative velocity-gradient. The equations of motion of multiple-degree-of-freedom torsional vibration model is constructed by the Holzer's method and then the equation is transformed to an equivalent single-degree-of-freedom torsional resonance simulation model. A squeal noise criteria is determined by the simulation model to perform the parametric study. The design parameters(the mass moment of inertia of the pulley, the mass moment of inertia of the impeller, the length of the shafts, the radius of the shafts, spinning speed of the shafts, the position of the mechanical seal, radius of the mechanical seal, and normal load of the mechanical seal) are investigated to confirm the stability for the squeal noise.