• Journal of the Korea Convergence Society
• /
• v.8 no.10
• /
• pp.193-199
• /
• 2017

Mechanical tappet is used to reduce the cost and friction loss compared with hydraulic tappet. But the mechanical tappet doesn't have the ability to control the clearance between cams and valves and is selected by measuring the distance between valves and cams in order to minimize the clearance of valves by considering thermal expansion of valves. So, the valve clearance is nearly zero after fully warming-up periods, but there is valve clearance before warming-up. Especially at cold condition, the clearance is relatively large and can bring about some problems. In this study, the valve motions like lift, velocity, seating velocity and bouncing height were studied at various valve clearance conditions by experiment and analysis. As the valve clearance increases, the ramp area becomes shorten and it causes the valve train motion to have bad effects.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.21 no.6
• /
• pp.793-803
• /
• 1997

This experimental study was mainly investigated on the swirl flow characteristics in the cylinder generated by a helical intake port. LDA system was used for the measurement of in-cylinder velocity fields. Tangential and axial velocity profiles, with varying valve lifts, valve eccentricity ratios and axial distance, were measured. When the intake valve was set in the cylinder center, we could find that in-cylinder swirl flow fields were composed of a forced vortex motion and a free vortex motion in the vicinity of the cylinder center and the cylinder wall respectively. In case of valve eccentricity ratio, N$_{y}$ = 0.45, the vortex flow which rotates to the opposite direction of a main rotating flow in the cylinder was found. And the reverse flow toward the cylinder head surface was also found in axial velocity profile and it showed the tendency of the linear decrease in the region of 0.leq.Y/B.leq.1.2.2.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.4
• /
• pp.374-379
• /
• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.4
• /
• pp.495-502
• /
• 2003

This paper focuses on the implementation of an efficient tracking method of a moving object using optimal representative blocks by way of a pan-tilt camera. The key idea is derived from the fact that when the image size of a moving object is shrunk in an image frame according to the distance between the mobile robot camera and the object in motion, the tracking performance of a moving object can be improved by reducing the size of representative blocks according to the object image size. Motion estimations using Edge Detection (ED) and Block-Matching Algorithm (BMA) are regularly employed to track objects by vision sensors. However, these methods often neglect the real-time vision data since these schemes suffer from heavy computational load. In this paper, a representative block able to significantly reduce the amount of data to be computed, is defined and optimized by changing the size of representative blocks according to the size of the object in the image frame in order to improve tracking performance. The proposed algorithm is verified experimentally by using a two degree-of- freedom active camera mounted on a mobile robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.9
• /
• pp.896-902
• /
• 2007

This paper proposes a vision-based kinematic control method for mobile robots with camera-on-board. In the previous literature on the control of mobile robots using camera vision information, the forward velocity is set to be a constant, and only the rotational velocity of the robot is controlled. More efficient motion, however, is needed by controlling the forward velocity, depending on the position in the corridor. Thus, both forward and rotational velocities are controlled in the proposed method such that the mobile robots can move faster when the comer of the corridor is far away, and it slows down as it approaches the dead end of the corridor. In this way, the smooth turning motion along the corridor is possible. To this end, visual information using the camera is used to obtain the perspective lines and the distance from the current robot position to the dead end. Then, the vanishing point and the pseudo desired position are obtained, and the forward and rotational velocities are controlled by the LOS(Line Of Sight) guidance law. Both numerical and experimental results are included to demonstrate the validity of the proposed method.

• Journal of the Korea Computer Graphics Society
• /
• v.15 no.2
• /
• pp.9-17
• /
• 2009

Animating multiple characters to compete with each other is an important problem in computer games and animation films. However, it remains difficult to simulate strategic competition among characters because of its inherent complex decision process that should be able to cope with often unpredictable behavior of opponents. We adopt a reinforcement learning method in Markov games to action models built from captured motion data. This enables two characters to perform globally optimal counter-strategies with respect to each other. We also extend this method to simulate competition between two teams, each of which can consist of an arbitrary number of characters. We demonstrate the usefulness of our approach through various competitive scenarios, including playing-tag, keeping-distance, and shooting.

• Tribology and Lubricants
• /
• v.25 no.4
• /
• pp.231-235
• /
• 2009

In this study, the influence of contact pressure on the variation in coefficients of friction between porcine knee joint cartilage and Co-Cr alloy in a repeat pass sliding motion was investigated. Flat-ended cartilage pin specimens(9 mm diameter, 8 mm long) were prepared from porcine(6 months old) knee joints by a drill-type punch. Friction tests were conducted by using a pin-on-disk type friction tester for an hour in PBS lubricated condition under the contact pressures of 0.5, 1 and 2 MPa with 50 mm distance per a cycle at ambient condition. As a result, coefficients of friction increased as the test duration increased for all contact pressures. The maximum coefficients of friction were 0.082, 0.06 and 0.098 for 0.5, 1, and 2 MPa, respectively. It showed that coefficients of friction of porcine knee joint cartilage against Co-Cr alloy depended on the level of contact pressure and related to squeeze film lubrication mechanism.

• Tribology and Lubricants
• /
• v.36 no.5
• /
• pp.290-296
• /
• 2020

When two layers of carbon nanotube (CNT) arrays are loaded to mate, the free ends of individual CNTs come into contact at the interface of the two layers. This leads to a higher contact resistance due to a smaller contact region. However, when the free CNT ends of one array penetrate into the mating array, the contact region increases, effectively lowering the contact resistance. To explore the penetration of mating CNTs, we perform molecular dynamic simulations of a simple unit cell model, incorporating four CNTs in the lower array layer coupled with a single moving CNT on the upper layer. The interaction with neighboring CNTs is modelled by long-range carbon bond order potential (LCBOP I). The model structure is optimized by energy minimization through the conjugate gradient method. A NVT ensemble is used for maintain a room temperature during simulation. The time integration is performed through the velocity-Verlet algorithm. A significant vibrational motion of CNTs is captured when penetration is not available, resulting in a specific vibration mode with a high frequency. Due to this vibrational behavior, the random behaviors of CNT motion for predicting the penetration are confirmed under the specific gap distances between CNTs. Thus, the probability of penetration is examined according to the gap distance between CNTs in the lower array and the aspect ratio of CNTs. The penetration is significantly affected by the vibration mode due to the van der Waals forces between CNTs.

• Proceedings of the KWS Conference
• /
• 2005.11a
• /
• pp.144-146
• /
• 2005

Dual electromagnetic sensor is used for sensing the weld line. The sensor consists of excitation and two sensing coil wound over the ferro-magnetic core. By using the dual sensor, the effect of noise is minimized. It is based on the generation of eddy currents in the welding plate by passing current through the excitation coil. The sensor can be used to track the butt joints having no gap between them, where a vision based sensor fails to track. Sensor sensitivity depends on the number of coil turns, frequency of excitation, distance of a sensor from the work piece, diameter of core, etc. The whole system consists of a sensor, a signal processing board, a motion controller and a personnel computer (PC). The raw sensor signal is processed using the signal processing board. It consists of amplification, rectification, filtering, averaging, offset adjustment, etc. Based on sensor data, the motion controller adjusts the position of a welding torch.

• Smart Structures and Systems
• /
• v.16 no.3
• /
• pp.521-535
• /
• 2015

Vibration-based monitoring is one approach used to perform structural condition assessment. By measuring structural response, such as displacement, dynamic characteristics of a structure may be estimated. Often, the primary dynamic responses in civil structures are below 5 Hz, making accurate low frequency measurement critical for successful dynamic characterization. In addition, static deflection measurements are useful for structural capacity and load rating assessments. This paper presents a DC coupled continuous wave radar to accurately detect both dynamic and static displacement. This low-cost radar sensor provides displacement measurements within a compact, wireless unit appropriate for a range of structural monitoring applications. The hardware components and operating mechanism of the radar are introduced and a series of laboratory experiments are presented to assess the performance characteristics of the radar. The laboratory and field experiments investigate the effect of factors such as target distance, motion amplitude, and motion frequency on the radar's measurement accuracy. The results demonstrate that the radar is capable of both static and dynamic displacement measurements with sub-millimeter accuracy, making it a promising technology for structural health monitoring.