• Journal of the Korean Society for Precision Engineering
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• v.33 no.3
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• pp.183-190
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• 2016

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.2
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• pp.133-139
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• 2014

Titanium (Ti) metal and its alloys are desirable materials for ship hulls and other ocean structures because of their high strength, corrosion-resistance and light weight properties. And light weight and corrosion-resistant aluminum (Al) is the ideal metal for shipbuilding. The joining of Ti and Al dissimilar metals is one of the effective methode to reduce weight of the structures. Ti and Al have great differences in materials properties, and intermetallic compounds such as $Ti_3Al$, TiAl, $TiAl_3$ are easily formed at the contacting surface between Ti and Al. Thus, dissimilar welding and joining of Ti and Al are considered to be very difficult. However, it was clarified that ultra-high speed welding could suppress the formation of intermetallic compounds in the previous study. Results of tensile shear strength increases with an increase in the welding speed, and therefore extremely high welding speed (50 m/min) is good to dissimilar weldability for Ti and Al. In this study, therefore, full penetration dissimilar lap welding of Ti (upper) - Al (lower) and Al (upper) - Ti (lower) with single-mode fiber laser was tried at ultra-high welding speed, and the microstructure of the interface zones in the dissimilar Al and Ti weld beads was investigated.

• BMB Reports
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• v.40 no.3
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• pp.302-314
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• 2007

N type calcium channels (CaV2.2) play a key role in the gating of transmitter release at presynaptic nerve terminals. These channels are generally regarded as parts of a multimolecular complex that can modulate their open probability and ensure their location near the vesicle docking and fusion sites. However, the proteins that comprise this component remain poorly characterized. We have carried out the first open screen of presynaptic CaV2.2 complex members by an antibody-mediated capture of the channel from purified rat brain synaptosome lysate followed by mass spectroscopy. 589 unique peptides resulted in a high confidence match of 104 total proteins and 40 synaptosome proteome proteins. This screen identified several known CaV2.2 interacting proteins including syntaxin 1, VAMP, protein phosphatase 2A, $G_{o\alpha}$, G$\beta$ and spectrin and also a number of novel proteins, including clathrin, adaptin, dynamin, dynein, NSF and actin. The unexpected proteins were classified within a number of functional classes that include exocytosis, endocytosis, cytoplasmic matrix, modulators, chaperones, and cell-signaling molecules and this list was contrasted to previous reports that catalogue the synaptosome proteome. The failure to detect any postsynaptic density proteins suggests that the channel itself does not exhibit stable trans-synaptic attachments. Our results suggest that the channel is anchored to a cytoplasmic matrix related to the previously described particle web.

• Steel and Composite Structures
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• v.28 no.6
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• pp.759-766
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• 2018

Friction Stir Welding (FSW) is a solid-state process, where the objects are joined together without reaching their melting point. It has been shown that this method is a suitable way to join dissimilar aluminium alloys. The current article employed hole drilling technique to measure the residual stress distribution experimentally in different zones of dissimilar aluminium alloys AA6061-T6 and AA7075-T6 Butt welded using FSW. Results are compared with those of similar AA6061-T6 plates joined using a conventional fusion welding method called tungsten inert gas (TIG). Also, the evolution of the residual stresses in the thickness direction was investigated, and it was found that the maximum residual stresses are below the yield strength of the material in the shoulder region. It was also revealed that the longitudinal residual stresses in the joint were much larger than the transverse residual stresses. Meanwhile, Vickers micro hardness measurements were performed in the cross-section of the samples. The largest hardness values were observed in the stir zone (SZ) adjacent to the advancing side whereas low hardness values were measured at the HAZ of both alloys and the SZ adjacent to the retreating side.

• Laser Solutions
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• v.2 no.3
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• pp.42-51
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• 1999

This research was conducted as a fundamental study to apply tailored blank welding technique into automotive production process. The materials used in this study were 2.0mm thickness low carbon steel sheets and 1.2mm Zn-coated low carbon steel sheets. To ensure the reproducibility and to consider various factors, experiments were. conducted by applying Taguchi experimental method with 6 factors. Every welding process was repeated 3 times to offset the effect of uncontrolled factors. Elongation and LDH(Limited Dome Height)were measured to evaluate formability of specimens and Optical microscopy, XRD, SEM, and EDS analysis were performed to observe the microstructures and to determine the solidification mode in the weld. The elongation of specimen welded with optimum condition was 83% of base metal, and LDH was 84% of base metal. In case of laser treated specimen where Zn coating was removed, elongation was 85% of base metal, and LDH was 85% of base metal. In fusion zone, phases were consisted of quasi-polygonal ferrite, banitic ferrite, and martensite.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.12
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• pp.1265-1271
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• 2013

In this work, modeling and analysis of thermal effects laser drilling under water for ceramics were presented. Laser is a unique tool for machining ceramics due to the characteristic of non-contact material removal. However, ablation by a laser often induces a thermal effect on the material and an increased heat-affected-zone or deposition of debris can be observed on the machined parts. The underwater surrounding improved a heat transfer rate to cooling down the machined part and could prevent any deposition of debris near the machined surfaces and edges. The heat modeling was applied to obtain the temperature distributions as well as temperature gradients between the material and surroundings. The cooling effect of the underwater laser drilling was improved and a more stable temperature distribution was calculated. The actual laser drilling results of ceramic laser drilling were presented to verify the effects of underwater laser drilling.

• Transactions of Materials Processing
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• v.27 no.3
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• pp.145-153
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• 2018

Magnesium material could be widely used in the automotive industry because of its high strength to weight ratio, but the electric resistance spot welding process of magnesium sheets is difficult because of its low electric resistance and high thermal conduction and thermal expansion. For this reason, an electric resistance surface friction spot welding process using rotating dies is suggested for the spot welding of magnesium metal sheets. This welding method can be characterized by three heating methods: (1) electric resistance heating on contacted surface, (2) surface friction heating by rotating dies, and (3) thermal conduction heating from heated steel electrodes, for the fusion of metal at the interfacial zone between the two magnesium sheets. This welding process also has variables to explore, such as welding currents, diameters of the steel electrode, and rotating dies. It was found that the welding strength could reach industrial requirements by applying a welding current of 11.0kA, with steel electrodes of 12mm diameter, with rotating dies of 4.4 mm diameter, under the condition of a revolution speed of 1200rpm of rotating dies, for the surface friction spot welding process of AZ31 magnesium alloy sheets of 1.4mm thickness.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.40-49
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• 2010

The Purpose of this paper is to weld a rapid palatal expander using a continuous wave Nd:YAG laser. The rapid palatal expander has become a useful treatment method for severe maxillary transverse deficiencies and posterior crossbites. Rapid maxillary expansion is a well-established method to correct transverse maxillary deficiency and arch length discrepancy. The major process parameters studied in the present laser welding experiment were the positions of focus, laser power and travel speed of laser beam. We measured the fusion zone size and its shape using an optical microscope for the observation of cross-sectional area and tension stress of a rapid palatal expander welded. Through the experimental investigation, the optimum speeds and power of laser without deficiencies of weld cross-sectional area were obtained.

• Proceedings of the KWS Conference
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• 2005.06a
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• pp.370-376
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• 2005

Magnesium alloys are becoming important material for light weight car body, due to their low specific density but high specific strength. However they have a poor weldability, caused high oxidization tendency and low vapor temperature. In this study, the welding performance of magnesium alloys was investigated for automobile application. The materials were rolled magnesium alloy sheet contains Al and Zn such as AZ3l , AZ6l and AZ9l. Three types of welding process were studied, that were GTAW, Laser beam welding and FSW. To evaluate the weldability, we examined the appearance of welding bead. Also we checked bead shape and internal defects such as crack and porosity on cross section of welding bead. The mechanical property was measured for welded specimen by tensile test. For determination of the strength change by welding process, the hardness profile across the welding center was measured. For the results, the tensile properties of welded specimen were decreased obviously on all welding process. For the fusion welding process such as GTAW and laser beam welding, the surface of the welding bead was covered with oxidized magnesium dust but it was removed by simple cleaning work as wipe-out with tissue. Also under cut, that caused vaporization of base metal was occurred. for the friction stir welding, there was no oxidation, under-cut or internal defects. However it had poor weld performance, the reason was cleavage fracture occurred at plastic deformation zone. For welding of magnesium alloy, the laser beam welding process was recommended.

• Journal of the Korean Society of Safety
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• v.12 no.2
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• pp.45-56
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• 1997

Fracture behavior of ex-serviced 1Cr-0.5Mo steel was measured at room($24^{\circ}C$) and elevated($538^{\circ}C$) temperature and compared with that measured with virgin 1Cr-0.5Mo steel. Compact C(T) specimens were machined from the base and welded test materials. In case of the C(T) specimens of the weld, fatigue precrack was introduced along the fusion line so that following crack growth should occurs along the region of heat affected zone. It was observed that the J-R curve of the serviced material was significantly lower than that of the virgin material at room temperature. Brittle fracture was observed in the serviced material. On the other hand, at elevated temperature no noticeable difference was found between the J-R curves of the virgin and the serviced material. The measured J-R curves were also compared with those of the 1.25Cr-0.5Mo steel obtained from the other literatures. Optical microscopy and SEM examination of the serviced material reveal the carbide in/along the grain boundary which shows material degradation due to long-term usage. An example of application of the measured J-R curves is shown.