• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• Journal of Korea Foundry Society
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• v.10 no.3
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• pp.235-246
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• 1990

This study has been carried out to investigate into the rolling wear characteristics of austempered ductile iron under unlubricated dry rolling condition by Amsler type test with 9.09% sliding ratio. Wear amount is increased with increasing of ferrite and retained austenite and it has been found that the amount of rolling wear is decreased when the hardness of matrix are higher. The rolling life up to generation of abnormal condition is conspicusly increased and amount of rolling wear is increased asrolling revolutionis increased and wear of austempered ductile ironunder dry rolling condition. Matrix has been obtained to upper bainite, low bainite at heat treatment, obtained to bull`s eye structure at as cast. It has been found that the amount of rolling wear is decreased when the tensile strength of the casting are increased and then the rolling life up to generation of abnormal wear in conspicuously increased and amount of wear was intend to graphite content.

• KIEAE Journal
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• v.16 no.5
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• pp.57-64
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• 2016

Purpose: Recently, lighting energy consumption in buildings has been gradually increasing and more studies are being carried out in order to solve this problem. Especially, the efficiency of the light-shelf system, which is a natural lighting system, has been recognized as a potential solution in addressing this problem and so various studies regarding the light-shelf system are being conducted. However, if high luminance material is used for the light-shelf system, glaring may occur in certain circumstances even though such material increases efficiency, and there are also difficulties related to maintenance and management in the case of an external light-shelf system. Therefore, the purpose of this study is to suggest modifications in relation to the reflectivity of the light-shelf system and introduce a rolling type light-shelf system with built-in cleaning equipment. In addition, a performance evaluation technique was established to verify its effectiveness. Method: In this study, we reviewed previous studies related to the light-shelf system and its performance. Then a testbed was established to assess the performance of the rolling-type light-shelf system suggested in this study. Also, the performance of the rolling-type light-shelf system suggested in this study was compared and analyzed with that of existent light-shelf systems in order to better verify the performance, and the uniformity ratio of illumination and lighting energy consumption were calculated for this purpose. Result: The results of the performance evaluation are as follows. 1) The performance evaluation result of the light-shelf system on the day of the summer solstice shows that $30^{\circ}$ is appropriate for the angle of light-shelf system, and the depth of the incoming natural light also increases as the angle of the light shelf increases. 2) It is possible to improve the uniformity ratio of illumination by increasing the reflectivity of the light shelf, and the reason for this is the increase in the amount of incoming light entering indoors due to the increased reflectivity of the light shelf. 3) The rolling type light-shelf system suggested in this study enables energy saving in comparison with existent light-shelf systems, and when the external illuminance decreases to 60,000 lx and 40,000 lx during the summer solstice due to factors such as the weather, the suggested light-shelf system can save energy by 12.1% and 5.1% respectively. Thus the light-shelf system proposed in this study is deemed to be effective in reducing energy costs.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.5-107
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• 2002

In this paper, a kinematic optimal design of a new paralleltype rolling mill based upon two Stewart platforms manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Journal of Mechanical Science and Technology
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• v.20 no.12
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• pp.2242-2249
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• 2006

The rolling piston type rotary compressor has been widely used for refrigeration and air-conditioning systems due to its compactness and high-speed operation. The present analysis is part of a research program directed toward maximizing the advantages of refrigerant compressors. The study of lubrication characteristics in the critical sliding component is essential for the design of refrigerant compressors. Therefore, theoretical investigation of the lubrication characteristics of a rotary compressor being used for refrigeration and air-conditioning systems was investigated. The Newton-Raphson method was used for a partial elastohydrodynamic lubrication analysis between the vane and the rolling piston of a rotary compressor. The results demonstrated that the vane thickness and the center line position of the vane significantly influenced the friction force and the energy loss between the vane and the rolling piston.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.562-568
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• 2001

The rolling piston type-rotary compressor has been widely used for refrigeration and air-conditioning systems due to its compactness and high-speed operation. The present analysis is part of a research program directed toward maximizing the advantages of refrigerant compressors. The study of lubrication characteristics in critical sliding components is essential for the design of refrigerant compressors. Therefore, theoretical investigation of the lubrication characteristics of a rotary compressor used for refrigeration and air-conditioning systems was studied. The Newton-Raphson method was used for the partial elastohydrodynamic lubrication analysis between the vane and the rolling piston of a rotary compressor. The results showed that the rotational speed of a shaft and the discharge pressure significantly influence the friction force and the energy loss between the vane and the rolling piston.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.08a
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• pp.373-382
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• 1999

Nucleation and growth process of sticking particle in ferritic stainless steels was investigated using a two disk type hot rolling simulator. The sticking behavior was strongly dependent on the surface roughness of a high speed steel roll(HSS) and the oxidation resistance of the ferritic stainless steels. A hot rolling condition with the lower oxidation resistance of the stainless steel and the higher surface roughness of HSS roll was more sensitive to sticking occurrence. It was also illucidated that the initial sticking particles were nucleated at the scratches formed on the roll surface and were served as the sticking growth sites. As rolling proceeded, the sticking particles grew sites. As rolling proceeded, the sticking particles grew by the process that the previous sticking particles provided the sticking growth sites.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2000.04a
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• pp.202-205
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• 2000

The effect of two step cold rolling and intermediate annealing conditions on the microstructure and texture evolution in type 430 stainless steel has been investigated tin order to improve ridging characteristic and deep drawability. The rolling and recrystallization textures were examined by orientation distributionfunction(ODF) and electron backscattered diffraction(EBSD). The observation showed that the intensity of ${\gamma}$-fiber was increased with two-step cold rolling process and so ridging characteristic and deep drawability were considerably improved. The relation between these properties an texture evolution has been discussed.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1997.03a
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• pp.85-88
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• 1997

The effect of lubrication on the evolution of the cold rolling texture in low carbon steels was studied by X-ray texture measurement. The cold rolling texture was inhomogeneous through the thickness of the rolling sheet. The type and sharpness of the texture through the thickness and the degree of inhomogeneity were found to be dependent on the friction acting between rolls and the rolled materials. The degree of the through thickness inhomogeneities was higher in the specimen rolled without lubrication. The friction acting on the roll surface led to the formation of the Goss-Orientation in the rolling texture.

• Tribology and Lubricants
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• v.24 no.6
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• pp.355-361
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• 2008

In highly stressed machine elements such as angular contact ball bearings and toroidal type traction drives, the elastohydrodynamic lubrication of elliptical contacts with both rolling and spinning motion are occur. In this paper, a finite difference method with non-uniform grid systems and the Newton-Raphson method are applied to solve the problems. Pressure distributions, film contours and variations of the minimum and central film thicknesses are compared with various ellipticity parameter, dimensionless speed and load parameter. The results showed that the spinning motion has significant influence especially on the film shapes. Reduction of the minimum film thickness under spinning is remarkable whereas the central film thickness is relatively less. Especially variations of the minimum film thicknesses with rolling velocity, load and ellipticity ratio are a great different from those of pure rolling. Therefore present numerical scheme can be used in the analysis of general elliptical contact EHL problems and further studies are required.