• Journal of Industrial Technology
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• v.22 no.A
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• pp.153-159
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• 2002

This paper is an experimental work of estimating friction angle of very coarse grained soil such as rubble mound by performing laboratory experiments. Two crushed rocks of rubble mound were used for tests. Triaxial compression tests with drained conditions were performed to measure friction angles of soils prepared by mixing the crushed soil having an identical coefficient of uniformity with different maximum grain size distribution. Centrifuge model experiments with those soils were also performed to measure angle of repose and to estimate friction angle of soil from measuring the slope of slip line in the active stress state. Model tests were carried out by changing the G-levels of 1G and 50G. From triaxial compression tests, the measured value of friction angle of soil is in the range of $41{\sim}57^{\circ}$. The measured value of repose angle is in the range of $32{\sim}35^{\circ}$. The values of friction angle are found not so sensitive to the maximum grain size of soil as long as the coefficient of uniformity is identical. Estimated value of friction angle from measuring the slope of slip line in the active stress state is in the range of $30{\sim}46^{\circ}$. Thus, the estimated angle of friction are found to be greater in the order of the measured angle of repose, the estimated value from the slope of active state, and triaxial compression test results. On the other hand, the measured values of friction angle from triaxial tests were compared with empirical equations, based on the relation between friction angle and void ratio. Equations proposed by Helenelund(l966) and Hansen(1967) found to be relatively reliable to estimate friction angles of soil.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.05a
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• pp.872-877
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• 2003

The fixed-angle based modified compression field theory (MCFT) was developed to include the slip deformation across the crack, thereby allowing for the non-coincident directions of the principal strain and stress. To investigate the significance of crack modelling on the analysis, a series of tests on beams without transverse reinforcement was predicted by both rotating- and fixed-angle crack models within the frame of the MCFT. The results predicted by the fixed-angle MCFT were comparable to those by the rotating-angle MCFT when the initial crack angle of 45deg. and the related friction law are used.

• Ocean and Polar Research
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• v.33 no.1
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• pp.69-76
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• 2011

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo's kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line) system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.

• Transactions of Materials Processing
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• v.8 no.6
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• pp.583-590
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• 1999

New forward slip model has been developed for the precise prediction of rolling speed in the hot strip finishing mill. Besides those influential factors such as neutral point, work roll diameter, friction coefficient, bite angle and the thickness at each side of entry and delivery of the rolls, roll torque was specifically taken into account in this study. To consider the effect of width change on forward slip, calibration factors obtained from rolling torque has been added to new prediction model and refining method has also been developed to reduce the speed unbalance between adjacent stands. The application of the new model showed a good agreement in rolling speeds between the predictions and the actual measurements, and the standard deviation of prediction error has also been significantly reduced.

• Proceedings of the KIEE Conference
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• 1999.07a
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• pp.339-341
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• 1999

This paper presents the gear ratio of wobble motor, accounting for finite friction in contact point. The gear ratio of a wobble motor is affected by rotor slip, which is a function of motive torque, excitation angle, and friction torque. The gear ratio of a wobble motor can be expressed as a constant term plus a term that accounts for rotor slip. The ideal gear ratio is constant term and is equal to the rotor radius divided by the distance between the center of the rotor and the center of the stator. The rotor-slip term is shown to be directly proportional to the contact point friction torque and inversely proportional to the square of the excitation voltage.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.11
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• pp.1459-1466
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• 2001

A slip factor is defined as an empirical factor, which should be multiplied to theoretical energy transfer to estimate real work input of a centrifugal compressor. During the last century, researchers have tried to develop simple empirical models to predict the slip factor. However most of these models have been developed based only on design point data. Furthermore flow is assumed inviscid. As a result, these models often fail to predict the correct slip factor at off-design condition. In this study, various models for the slip factor were analysed and compared with experimental and numerical data at off-design conditions. As a result of this study, Wiesner's and Paeng and Chung's models are shown to be applicable for radial impeller, but all the models are found to be inappropriate for backswept impellers.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.2
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• pp.139-147
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• 2004

The purpose of engine control TCS is to regulate engine torque to keep driven wheel slip in a desired range. In this paper, engine control TCS using sliding mode control law based on engine model and estimated load torque is proposed. This system includes a two-level controller. Slip controller calculates desired wheel torque, and engine torque controller determines throttle angle for engine torque corresponding to desired wheel torque. Another issue is to measure load torque for model based controller design. Luenberger observer with state variables of load torque and engine speed solves this problem as estimating load torque. The performance of controller and observer is certificated by simulation using 8-degree vehicle model, Pacejka tire model, and 2-state engine model. The simulation results in various maneuvers during slippery and split road conditions showed that acceleration performance and ability of the vehicle with TCS is improved. Also, the load torque observer could estimate real load torque very well, so its performance was proved.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.306-309
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• 1988

For the purpose of fast response and simplifing system angle control strategy is selected. And the analysis and dynamic performance of a slip frequency controlled current source inverter fed induction motor drive with stator frequency compensation (indirect torque angle control) is investigated. The current control loop including motor is modeled and speed control loop including the frequency compensation is analysed. And transfer function of overal system is simplified. Experimental results are given in support of the analytical procedure.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.783-786
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• 1991

Generally, The position of mobile robot moving on the plane is measured by the method of dead reckoning, using the encoder system coupled on a wheel axis. But it is noted that the encoder system cannot check the slip of a wheel, often occurring in tracking of the mobile robot. In this study, using velocity angular velocity sensor with a tuning fork vibration system, the system is developed which can measure the directional angle of positional variables on the mobile robot. By measuring the variations of tracking direction mobile robot equipped with this system, following result is found; In spite of the slip at a wheel when measuring the tracking directional angle, the error occurs in the range of .+-. 1 (degree).

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.4
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• pp.131-137
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• 2014

The SUV has a risk of rollover because of the highness of center of mass. In this paper the roll-behavior of a SUV in turning motion is analyzed. Dynamic model of the vehicle on the slope is developed and simulation is carried out using the software ADAMS/Car. The results show that the relational expression between the ground force acting on the tire and the roll motion is well established. It is also identified that the driving state of the vehicle becomes unstable at the lower or upper position of the slope.