• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.669-677
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• 2005

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.289-291
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• 1996

Linear induction motor(LIM) is widely used to drive magnetic levitation train. To drive LIM, different control method compared with conventional rotary type machine is needed. Since vertical force is generated inherently and it effects on the levitation system, vertical force should be kept constant for stable levitation. To keep vertical force constant, slip frequency should be kept constant. Once slip frequency is kept constant, tractive force can be controlled by adjusting motor currents. In this paper, control methods used so far arc analyzed with some experimental results and decoupling control algorithm is proposed to control tractive and vertical force separately. Control algorithm is verified through simulation.

• Tribology and Lubricants
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• v.31 no.1
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• pp.6-12
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• 2015

This paper investigates the stick-slip characteristic of magnetorheological elastomer (MRE) between an aluminum plate and the surface of the MRE. MRE is a smart material and it can change its mechanical behavior with the interior iron particles under the influence of an applied magnetic field. Stick-slip is a movement of two surfaces relative to each other that proceeds as a series of jerks caused by alternate sticking from friction and sliding when the friction is overcome by an applied force. This special tribology phenomenon can lead to unnecessary wear, vibration, noise, and reduced service life of work piece. The stick-slip phenomenon is avoided as far as possible in the field of mechanical engineering. As this phenomenon is a function of material property, applied load, and velocity, it can be controlled using the characteristics of MRE. MRE as a soft smart material, whose mechanical properties such as modulus and stiffness can be changed via the strength of an external magnetic field, has been widely studied as a prospective replacement for general rubber in the mechanical domain. In this study, friction force is measured under different loads, speed, and magnetic field strength. From the test results, it is confirmed that the stick-slip phenomenon can be minimized under optimum conditions and can be applied in various mechanical components.

• Journal of Electrical Engineering and Technology
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• v.10 no.1
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• pp.429-435
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• 2015

This study proposes a re-adhesion algorithm that has stable traction effort for rolling stock slip/slide minimization when deliverable traction decreases by slip. The proposed scheme estimates appropriate reference speed using two encoders for reducing slip and controls traction effort stably and has stable control characteristics for disturbance. The algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force stably controls traction effort and gives rolling stock excellent acceleration and deceleration characteristics. And a slip sensing element that can quickly detect slip is used. Load motor and inverter were checked in various slip conditions for creating various line conditions.

• 한국가시화정보학회:학술대회논문집
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• 2007.11a
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• pp.84-87
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• 2007

Recently, many studies concern on the slip flow and slip length, which allow liquid flow to reduce drag force in microchannel. However, until now not enough investigation is performed experimentally to understand the slip flow in the superhydrophobic microchannel exhibiting riblet structures on vertical wall. Here we investigated and compared the slip flows according to the surface characteristics; hydrophilic, hydrophobic, and superhydrophobic wettabilities. Using the micro-PIV, velocity profiles can be obtained in the glass (hydrophilic), PDMS (hydrophobic), and micro-structured PDMS (superhydrophobic) microchannels. For both PDMS and superhydrophobic PDMS microchannels, we observed the slip effects showing the microscale slip lengths. Due to the micro-riblet, there are two distinctive flow characteristics on the riblet surface and the liquid meniscus in the valleys.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.950-955
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• 2004

Slip displacement is brought into focus to study the tube fretting wear that occurs on the contact by the springs. An oscillating tube was in contact with plate support springs. The contact condition was varied as normal force 5 N, and gaps of 0.1 and 0.2 mm in the experiment. The oscillation range of the tube was also varied as 0.2, 0.3, 0.4 and 0.7 mm. Formulas for predicting the slip displacement range were derived in terms of the vibration amplitudes measured during the tube oscillation. It was found that the slip displacement in transverse direction was much higher ($720{\sim}33000$ times) than that in axial one. This resulted in the severer wear on the contact suffered from transverse slip.

• Journal of Mechanical Science and Technology
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• v.20 no.9
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• pp.1399-1409
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• 2006

An improved friction model was proposed with consideration of the effect of the sliding speed, the contact pressure and the temperature, and it was implemented into a user subroutine of a commercial FEM code, ABAQUS/Explicit. Then, a smooth tire was simulated for free rolling, driving, braking and cornering situations using the improved friction model and the Coulomb friction model, and the effect of the friction models on the slip, the frictional energy distribution and the cornering force and moment was analyzed. For the free rolling, the driving and the braking situations, the improved friction model and the Coulomb friction model resulted in similar profiles of the slip and the frictional energy distributions although the magnitudes were different. The slips obtained from the simulations were in a good correlation with experimental data. For the cornering situation, the Coulomb friction model with the coefficient of friction of 1 or 2 resulted in lower or higher cornering forces and moments than experimental data. In addition, in contrast to experimental data it did not result in a maximum cornering force and a decrease of the cornering moment for the increase of the speed. However, the improved friction model resulted in similar cornering forces and moments to experimental data, and it resulted in a maximum cornering force and a decrease of the cornering moment for the increase of the speed, showing a good correlation with experimental data.

• Composites Research
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• v.27 no.1
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• pp.31-36
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• 2014

This paper presents the slip behavior of composite fabrics by high speed resin flow in high pressure resin transfer molding. In order to observe the fiber deformation behavior, we constructed the measuring equipment for friction coefficient between fiber and mold, and the monitoring system for deformation of fiber preform in high-pressure RTM process. Coulomb friction coefficient and hydrodynamic friction coefficient between fiber preform and mold were measured and the external force induced by fluid flow causing the deformation of fiber preform was measured. Friction force calculated by friction coefficient and the external force upon fiber deformation were compared, which showed that preform deformation occurred when the external force was bigger than the friction force. The slip behavior of the fiber preform was mainly influenced by the volume fraction of fiber preform and the friction coefficient.

• Journal of Korean Society of Steel Construction
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• v.8 no.3 s.28
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• pp.151-160
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• 1996

The fatigue test under the constant amplitude repeated loading is performed to investigate the fatigue behavior of the Torque Shear type high tension bolted joint which is able to manage the axial force uniformly. From the test results, it's known that the reduction of the axial force of T/S bolt followed by the elasped time is similar to that of the high tension bolts. The difference of relaxation is not occurred according to the position of bolts, the size of the introduced axial force but the effect of the variation of temperature is large. In the reduction of the axial force followed by the cumulation of the fatigue load, the outer bolt is larger than the inner bolt. This result depends on the difference in the distribution of the non-slip zone. The variation of the surface roughness affects the slip and the reduction of the anal force.

• Journal of the Korea institute for structural maintenance and inspection
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• v.4 no.2
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• pp.131-137
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• 2000

In order to evaluate the design shear strength of composite slabs with truss-shaped shear connectors(TSC), a series of push-out tests on several types of specimens was carried out. The test results for the two parameters of bearing area and solid angle of the connector were compared to obtain the design shear force of the truss-shaped connectors. The results obtained from this study are as follows: (1) The slip-coefficients of TSC ranges from 0.87 to 3.12(${\times}10^6kgf/cm$). (2) The slip stiffness and the shear strength of TSC with $60.6cm^2$ bearing area are greater than those with $14.6cm^2$. (3) For estimating the allowable shear force of TSC, a design equation that is based on the bearing strength of the connector is suggested. (4) The mean safety factors of the critical force and the ultimate force are 2.38 and 4.62. respectively.