• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.319-324
• /
• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of Welding and Joining
• /
• v.13 no.1
• /
• pp.127-137
• /
• 1995

The possibility of new GMAW process using economic shielding gases including CO$_{2}$ gas was investigated on the effect of shielding gas on weldabilty. In the optimum welding condition using 600A power source, FCAW process showed low depositions rate, 114 g/min at 300A, but new GMAW using other mixed shielding gases exhibited high deposition rate, 208-224 g/min at 450A. TIME gas, Ar+CO$_{2}$ gas and Ar+CO$_{2}$+O$_{2}$ gas as a shielding gas were able to be used to the very high welding current(450A), moreover TIME gas and Ar+CO$_{2}$ gas showed the highest arc stability among shielding gases studied in this experiments. The weld penetration was performed by axial spray transfer mode of weld droplet. On the basis of workability, weldability and economic point of view, Ar mixture (80%Ar+20%CO$_{2}$) gas was recommended as a shielding gas for the development and application of new GMAW process. This shielding gas showed the low spatter, good weld quality, stable arc and low cost at the region of high welding current.

• The Transactions of the Korean Institute of Electrical Engineers C
• /
• v.52 no.10
• /
• pp.476-480
• /
• 2003

In this paper, we have performed 3-dimensional time-resolving measurement of the Ne light emitted from the cell of plasma display panel(PDP) as a function of the pressure using the scanned point detecting system. From the temporal behavior results, we could analyze the discharge behavior of panel with Ne-Xe(4%) mixing gas and 300 torr, 400 torr and 500 torr pressure. At the top view of panel, the discharge of 300 torr panel starts at the 634 ns and ends at the 722 ns. The emission duration time is about 90 ns. The discharge of 400 torr panel starts at the 682 ns and ends at the 786 ns. the emission duration time is about 100 ns. Also, the discharge of 500 torr panel starts at the 770 ns and ends at the 826 ns. the emission duration time is about 56 ns. The discharge moves from inner edge of cathode electrode to outer cathode electrode forming arc type. In the side view of 300 torr, 400 torr and 500 torr an emission shows that the light is detected up to 180${\mu}{\textrm}{m}$, 150${\mu}{\textrm}{m}$ and 70${\mu}{\textrm}{m}$ height of barrier rib and the emission distribution of the 300 torr is wider than 400 torr, 500 torr.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.11
• /
• pp.3441-3453
• /
• 1996

A finite element anlaysis is performed for large deformations of a felxible beam. The total Lagrangian formulation for a general large deformation, which involves finite rotations, is chosen and the exponential map is used to treat finite rotations from the Eulerian point of view. The finite elements results are confirmed for several cases of deformations through comparison to a first order elasticity solution obtained by numerical integration, and the agreement between the two is found to be excellent. For lateral buckling, the point of vanishing determinant of the resulting unsymmetric tangent stiffness is traced to examine its relationship to bifurcation points. It is found that the points of vanishing determinant is not corresponding to bifurcation points for large deformation in general, which suggests that the present unsymmetric tangent stiffness is not an exact first derivative of internal forces with respect to displacement.

• Journal of Ocean Engineering and Technology
• /
• v.11 no.4
• /
• pp.7-22
• /
• 1997

A finite element analysis is performed for lateral buckling problems on the basis of a geometrically nonlinear formulation for a beam with small elastic strain but with possibly large rotations. The total Lagrangian formulation for a general large deformation, which involves finite rotations, is chosen and the exponential map is used to treat finite rotations from the Eulerian point of view. For lateral buckling, the point of vanishing determinant of the resulting unsymmetric tangent stiffness is traced to examine its relationship to bifurcation points. It is found that the points of vanishing determinant is not corresponding to bifurcation points for large deformations in general, which suggests that the present unsymmetric tangent stiffness is not an exact first derivative of internal forces with respect to displacement. This is illustrated through several numerical examples and followed by appropriate discussion.

• Proceedings of the KOSOMBE Conference
• /
• v.1995 no.05
• /
• pp.241-246
• /
• 1995

An experimental investigation was performed under steady flow condition to assess hydrodynamic performance of floating-type monoleaflet polymer valves (MLPV) with different leaflet thickness. The St. Jude Medical valve (SJMV) was also used for comparison tests. Pressure drops of MLPVs are larger than those for other types of polymer valves and mechanical valves. Furthermore, the thicker is the leaflet thickness of a polymer valve, the larger arc the corresponding press drop. The velocity profiles for MLPV reveal a large reversed flow region downward to the valve position. The maximum wall shear stresses of MLPVs at a flow rate of 30 l/min are in the range $54-130\;dyn/cm^2$, and the corresponding maximum. Reynolds shear stresses are in the range of $100-500\;dyn/cm^2$, respectively. Both arc beyond the allowable limit clinically. In contrast, floating-type monoleaflet polymer valves show better hydrodynamic performance in leakage volume. From the designing point of view, it can be concluded that the optimum thickness of leaflet for better hydrodynamic performance is one of the important parameters.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.923-928
• /
• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Proceedings of the KIEE Conference
• /
• 2006.04b
• /
• pp.281-283
• /
• 2006

This paper presents two new circuit topologies of DC bus lineside active edge resonant snubber assisted soft-switching PWM full-bridge DC-DC converter acceptable for either utility AC 200V-rms or AC 400V-rms input voltage source. All the active power switches in the full-bridge arms and DC busline can achieve ZCS turn-on and ZVS turn-off commutations and the total turn-off switching power losses of all active switches can be reduced for high-frequency switching action. The effectiveness of these new DC-DC converters topologies is proved for low voltage and large current high efficiency DC-DC power supplies as TIG arc welding machine from a practical point of view.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.58 no.4
• /
• pp.427-431
• /
• 2009

In this study, the dynamic characteristic of a contact wire and pantograph suppling electrical power to high-speed trains are investigated from an electrical response point of view. To analysis power line disturbance by induced contact loss phenomenon for high speed operation, a hardware Simulator which considered contact loss between contact wire and the pantograph as well as contact wire deviation is developed. It is confirmed that a contact wire and pantograph model are necessary for studying the dynamic behavior of the pantograph system. One of the most important needs accompanied by increasing the speed of high-speed train is reduced that an arc phenomenon by loss of contact brings out EMI. In case of a high-speed train using electrical power, as comparison with diesel rolling stock, PLD(Power Line Disturbance) such as harmonic, transient voltage and current, EMI(Electromagnetic Interference), dummy signal injection etc usually occurs. Throughout experiment, it is verified that an arc phenomenon is brought out for simulator operation and consequently conducted noise is flowed in electric circuit by power line disturbance.

• Proceedings of the KIEE Conference
• /
• 2009.07a
• /
• pp.2152_2153
• /
• 2009

In this study, the dynamic characteristic of a contact wire and pantograph suppling electrical power to high-speed trains are investigated from an electrical response point of view. To analysis power line disturbance by induced contact loss phenomenon for high speed operation, a hardware Simulator which considered contact loss between contact wire and the pantograph as well as contact wire deviation is developed. It is confirmed that a contact wire and pantograph model are necessary for studying the dynamic behavior of the pantograph system. One of the most important needs accompanied by increasing the speed of high-speed train is reduced that an arc phenomenon by loss of contact brings out EMI. In case of a high-speed train using electrical power, as comparison with diesel rolling stock, PLD(Power Line Disturbance) such as harmonic, transient voltage and current, EMI, dummy signal injection etc usually occurs. Throughout experiment, it is verified that an arc phenomenon is brought out for simulator operation and consequently conducted noise is flowed in electric circuit by power line disturbance.