• Journal of the Korean Society for Aviation and Aeronautics
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• v.22 no.4
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• pp.93-98
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• 2014

In this study, control of oxidizer mass flow rate and verification of control system were performed for hybrid rocket thrust control application. Oxidizer flow control system consists of ball valve and stepping motor where gaseous oxygen was used for oxidizer at feeding pressure of 10, 20 and 30 bar. According to experimental results, the oxidizer mass flow rate showed a relatively linear increment as ball valve open angle increases regardless of feeding pressure. In addition, the level of the oxidizer flow rate was kept almost constant at each sequence of flow control with ball valve during the 20 seconds of operation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.461-462
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.131-132
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• 2010

• Communications of the Korean Mathematical Society
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• v.10 no.1
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• pp.133-135
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• 1995

In this note, we will investigate the radial symmetry of some kind of solutions of nonlinear ellipitic equations $$ \Delta U = f(U) $$ $$ (1.1) U = 0 in B $$ $$ U \in C^2 (\bar{B}) on \partial B$$ Here f is $C^1$ and B denotes a n-dimensional unit ball in $R^n$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.127-128
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• 2011

• Journal of the Korean institute of surface engineering
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• v.47 no.1
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• pp.25-32
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• 2014

The effects of shot peening pressure on electrochemical and surface morphological characteristics of ALBC3 alloy were investigated in this work. The surface hardness of ALBC3 alloy was improved by shot peening process under all shot peening pressures between 2 and 5 bar, and the hight value of surface hardness was observed to be about 420 Hv at 4 bar of the shot peening pressure. The shot peened surface presented very rough surface due to shot ball collision. The result of anodic potentiodynamic polarization in seawater revealed that there is no significant difference between the shot peened and non-shot peened specimen in terms of corrosion characteristics. Therefore, the optimum projection pressure is determined to be 4 bar.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Structural Engineering and Mechanics
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• v.68 no.4
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• pp.497-505
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• 2018

Three points bending flexural test was modeled numerically to study the crack propagation in the pre-cracked beams. The pre-existing edge cracks in the beam models were considered to investigate the crack propagation and coalescence paths within the modeled samples. The effects of particle size on the single edge-notched round bar in bending test were considered too. The results show that Failure pattern is constant by increasing the ball diameter. Tensile cracks are dominant mode of failure. These crack initiates from notch tip, propagate parallel to loading axis and coalescence with upper model boundary. Number of cracks increase by decreasing the ball diameter. Also, tensile fracture toughness was decreased with increasing the particle size. In the present study, the influences of particles sizes on the cracks propagations and coalescences in the brittle materials such as rocks and concretes are numerically analyzed by using a three dimensional particle flow code (PFC3D). These analyses improve the understanding of the stability of rocks and concretes structures such as rock slopes, tunnel constructions and underground openings.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.