• Title/Summary/Keyword: Driving velocity

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A Study on The Straightness Improvement Method for Ensure Safety of Mobile Walker in Slope (경사로에서의 안정성 확보를 위한 Mobile Walker의 직진성 향상 기법에 관한 연구)

  • Lee, W.Y.;Lee, D.K.;Lee, E.H.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.8 no.3
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    • pp.187-196
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    • 2014
  • This paper suggests linearity enhancement algorithm to Ensure safety of Mobile Walker on Slope. Mobile Walker happens to get off track due to external forces from Walker's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 10cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.

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Magnetic Creep in Narrow Channel (좁은 Channel에서의 자기적 Creep)

  • 박영문
    • 전기의세계
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    • v.23 no.2
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    • pp.55-61
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    • 1974
  • Nature of magnetic creep phenomena in low coercive force films(Ni 80%-Fe 20%) in form of narrow channels imbedded in high coercive force films is studied in this work. Aluminium is evaporated on the hot glass substrate and eched free in the shape of narrow channels by photoetoetching method. then, Permalloy(Ni 80%, Fe 20%) is deposited on these Aluminium substrate under the uniform field of 30(Oe) to introduce anisotropy. Permalloy film on Al has a high coercive force and one on the substrate devoid of Al has how coercive force. Magnetic revers domain which is introduced at the end of channel grows under the a.c field in hard axis direction, in spite of very weak d.c field in easy axis direction. This creeping is investigated as a function of external fields and channel widths. Permalloy film thickness is 500.angs.-900.angs. and channel widths are 40, 51, 65, 81, 115.mu. respectively. Creeping increases as external field increases while it decreases with channel width decrease. Creep velocity in channels depends on the a.c field along hard axis, d.c field along easy axis and channel widths and its range is 1-10cm/sec in this experiment. From study of dependence of creep velocity on channel width, it can be concluded that creep velocity is expressed in form of v=v$_{0}$ exp .alpha.(H-H$_{0}$) where .alpha. is a function of a.c field along hard axis and H is driving d.c field along easy axis, H$_{0}$ is not a coercive force of film as usuall expected but the d.c threshold field along easy axis which is a function of channel width. This characteristic is also confirmed by the study of dependence of creep velocity upon easy axis field strength. Value of .alpha. obtained is 1.3-2.3cm/sec We depending upon film charactor, hard axis field strength and frequency.uency.

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Coil Gun Electromagnetic Launcher (EML) System with Multi-stage Electromagnetic Coils

  • Lee, Su-Jeong;Kim, Ji-Hun;Song, Bong Sob;Kim, Jin Ho
    • Journal of Magnetics
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    • v.18 no.4
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    • pp.481-486
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    • 2013
  • An electromagnetic launcher (EML) system accelerates and launches a projectile by converting electric energy into kinetic energy. There are two types of EML systems under development: the rail gun and the coil gun. A railgun comprises a pair of parallel conducting rails, along which a sliding armature is accelerated by the electromagnetic effects of a current that flows down one rail, into the armature and then back along the other rail, but the high mechanical friction between the projectile and the rail can damage the projectile. A coil gun launches the projectile by the attractive magnetic force of the electromagnetic coil. A higher projectile muzzle velocity needs multiple stages of electromagnetic coils, which makes the coil gun EML system longer. As a result, the installation cost of a coil gun EML system is very high due to the large installation site needed for the EML. We present a coil gun EML system that has a new structure and arrangement for multiple electromagnetic coils to reduce the length of the system. A mathematical model of the proposed coil gun EML system is developed in order to calculate the magnetic field and forces, and to simulate the muzzle velocity of a projectile by driving and switching the electric current into multiple stages of electromagnetic coils. Using the proposed design, the length of the coil gun EML system is shortened by 31% compared with a conventional coil gun system while satisfying a target projectile muzzle velocity of over 100 m/s.

The Characteristics of PZ-PT PMN Piezoelectric Ceramics for Application to High Power Device (고출력 압전 디바이스 응용을 위한 PZ-PT-PMN계 압전 세라믹의 특성)

  • ;洪鍾國
    • The Transactions of the Korean Institute of Electrical Engineers C
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    • v.49 no.3
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    • pp.156-156
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    • 2000
  • The piezoelectric properties and the doping effect for $0.95Pb(Zr_xTi_{l-x})O_3+0.O5Pb(Mn_{1/3}Nb_{2/3})O_3$compositions were studied. Also, the heat generation and the change of electromechanical characteristics, the important problem in practical usage, were investigated under high electric field driving. As a experiment results under low electric field, the value of $k_p$ and ${\varepsilon}_{33}^T$ were maximized, but $Q_m$ was minimized $(k_p=0.57, Q_m=1550)$ in the composition of x=0.51. In order to increase the values of $Q_m$, $Nb_2O_5$ was used as a dopant. As the result of that, the grain size was suppressed and the uniformity of grain was improved. Also, the values of $k_p$ decreased, and the values of $Q_m$ increased with doping concentration of $Nb_2O_5$ . As a experiment results under high electric field driving, when vibration velocity was ower than 0.6[m/s], the temperature increase was 20[℃], and the change ratio of mechanical quality factor was less than 10[%]. So, its electromechanical characteristics was very stable. Conclusively, piezoelectric ceramic composition investigated at this paper is suitable for application to high power piezoelectric devices.

A Study on Air Flow Analysis due to the Shape of Automotive Body (자동차 차체의 형상에 따른 공기 유동해석에 관한 연구)

  • Lee, Hyun-Chang;Cho, Jae-Ung
    • Journal of the Korea Convergence Society
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    • v.5 no.2
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    • pp.19-23
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    • 2014
  • In this study, the air resistance is studied by using flow analysis near automotive body due to the its shape. Flow velocities of airs entering into inlet plane are two kinds of 70 km/h and 100 km/h. Air resistance in case of high speed driving(100 km/h) becomes higher than regular speed driving(70 km/h) and the resistance in case of the car with wider cross section at front side becomes higher than narrower cross section. By using this analysis result, the shape of automotive body can be effectively designed in order to reduce the air resistance.

Design of Multilayered Suspension Mechanism for Differential Type Mobile Robot

  • Park, Jin-Ho;Roh, Se-Gon;Park, Ki-Heung;Kim, Hong-Seok;Lee, Ho-Gil;Choi, Hyouk-Ryeol
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.859-864
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    • 2003
  • This paper presents a design for the novel suspension mechanism of a two-wheeled mobile robot having two casters which is used for indoor environment. Although the indoor environment is less rough than the outdoor one, the fixed caster mechanism has some problems such as causing the robot to be immovable because robot's driving wheels do not have contact with the ground. Therefore, we tried installing a spring-damper suspension mechanism to keep driving capability and to remove pitching phenomenon. However, this suspension mechanism also has the problem, which the robot body inclined by disturbances does not return to the initial position. To deal with above problems and to accomplish desired performances, we designed the Multilayered Suspension Mechanism, which has springs and dampers working partially according to the inclined angle and angular velocity of robot body concerned with pitching. To analyze design, the equations of motion describing their dynamics were developed. Using the equations, simulation results show the improved performance. We confirm the usefulness of the Multilayered Suspension Mechanism by construction and test of a actual prototype.

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A Study on the Design for the Air Impeller of a Finishing Tool Unit (피니싱 툴 유니트의 에어 임펠러 설계에 관한 연구)

  • Choi, Hyun-Jin;Kang, Ik-Soo;Lee, Seung-Yong;Jang, Eun-Sil;Park, Sun-Myung;Choi, Seong-Dae
    • Korean Journal of Computational Design and Engineering
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    • v.20 no.3
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    • pp.312-319
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    • 2015
  • The grinding and furbishing process as the finishing process for molds include the works such as the grinding, buffing, lapping and polishing among others. A finishing tool unit is applied to this finishing process for the burr, lapping, polishing and others of molds. A finishing tool unit can carry out the flexible machining, depending on the machining allowance for objects to be cut on the basis of the instrumental driving mechanism which enables the up, down, left and right floating, which is applied in link with the dedicated cutters and robot machining systems. This study selected the shape to increase the rotatory force of an impeller when air is discharged during the driving of a finishing tool unit, and reflected it to the impeller designing. In addition, the study analyzed each flow velocity and pressure distribution per air pressurization value and finally analyzed the rotating torque to suggest the optimal conditions in designing impellers.

Design of a Re-adhesion Controller using Fuzzy Logic with Estimated Adhesion Force Coefficient for Wheeled Robot (점착력 계수 추정을 이용한 이동 로봇의 퍼지 재점착 제어기 설계)

  • Kwon, Sun-Ku;Huh, Uk-Youl;Kim, Jin-Hwhan
    • Proceedings of the KIEE Conference
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    • 2004.11c
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    • pp.620-622
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    • 2004
  • Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weigh. Secondly, reposed fuzzy logic applied by the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takaki-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

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Autonomous Tracking Control of Intelligent Vehicle using GPS Information (GPS 정보를 이용한 지능형 차량의 자율 경로추적 제어)

  • Chung, Byeung-Mook;Seok, Jin-Woo;Cho, Che-Seung;Lee, Jae-Won
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.10
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    • pp.58-66
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    • 2008
  • In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

Bimodal-tram Simulator using PXI Embedded Real-time Controllers (PXI embedded real-time controller를 이용한 Bimodal-tram Simulator)

  • Byun, Yeun-Sub;Kim, Young-Chol
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.3
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    • pp.645-650
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    • 2010
  • In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.