• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1077-1081
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• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• Tribology and Lubricants
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• v.20 no.5
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• pp.278-283
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• 2004

O-ring seal is widely used for sealing pressure vessels and oil containers in various applications of mechanical equipments. The doughnut shape of the O-ring is very important components in most of the system assembly of mechanical apparatus. This paper presents the sealing force of a pressurized perfluoroelastomer O-ring, which is very important contact seal in sealing the semiconductor equipment. The sealing pressure is measured by experimental method and analyzed numerically by using the non-linear MARC finite element program. The seal tester is made to measure the contact force and displacement of the O-ring with an automatic control system of the working temperature. The results show the reasonable agreements between the computed FEM results and measured ones when the operating temperature is moderate temperature. But the compared values between the computed and tested results show a difference because of the increased temperature, which is related to the non-linear parameter of the O-ring material.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.389-396
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• 2016

The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.481-491
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• 2015

Since the crack in the surface of the concrete acts as the main reason influencing the life span of the structure, regular inspections and maintenance are required. The sealing required for maintenance of the concrete surface is a method of repairing the crack in the surface in the beginning, and is effective in preventing additional cracks and expansion that occurs with time. However, sealing on large sized structures such as tall buildings or bottom parts of bridges are difficult to ensure safety of the workers due to inadequate working environments. Due to this reason, the importance of the need for sealing automation for the maintenance of large sized concrete structures is emerging. This study proposes two control methods to apply robot systems to the sealing of cracks on the bottom parts of concrete bridges. First is the method of automatically tracking the trajectory of cracks. The robot gets the trajectory of the cracks using video information obtained from cameras. Comparing the previous several points and new point, the next point can be estimated. Thus, the trajectory of the crack can be tracked automatically. The other method is sealing by maintaining steady force to the contacting surface. The concrete surface exposed to an external environment for a long time gets an irregular roughness. If robots are able to carry out sealing while maintaining a steady contact force on these rough surfaces, complete equal sealing can be maintained. In order to maintain this equal force, a force control method using impedance is proposed. This paper introduces two developed control methods to apply to sealing robots, and conducts a Lab Test and Field Test after applying to a robot. Based on the test results, opinions on the possibilities of field application of the robot applied with the control methods are presented.

• Elastomers and Composites
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• v.55 no.4
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• pp.270-276
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• 2020

The long-term durability of an FKM O-ring used as parts of a hydrogen station was investigated by exposing it to high-pressure gaseous hydrogen for 1, 3, and 7 days at room temperature. Changes in its sealing force were subsequently measured at 150℃ using intermittent compression stress relaxation (CSR). No changes in the tensile properties of FKM O-ring were observed, but its initial and overall sealing forces at 150℃ significantly decreased with increasing exposure time to hydrogen gas. Microvoid formation in the FKM O-ring upon exposure to high-pressure hydrogen was minimized over time after the ring was exposed to atmospheric pressure at room temperature, which prevented changes in its tensile properties. However, applying heat accelerated FKM O-ring oxidation, which decreased its sealing force. These results indicated that identifying changes in the sealing force of rubber materials using intermittent CSR is not sufficient for monitoring changes in mechanical properties under high-pressure hydrogen atmospheres; however, it is suitable for evaluating the long-term durability of sealing materials for hydrogen station applications under similar conditions.

• Tribology and Lubricants
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• v.20 no.5
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• pp.231-236
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• 2004

Sulfur Hexafluoride, S $F_{6}$ is widely used for leak detection and as a gaseous dielectric in transformers, condensers and circuit breakers. S $F_{6}$ gas is also effective as a cleanser in the semiconductor industry. This paper presents a numerical study of the sealing force of disk type seal in S $F_{6}$ gas safety valve. The sealing force on the disk seal is analyzed by the FEM method based on the Taguch's experimental design technique. Disk seals in S $F_{6}$ gas safety valve are designed with 9 design models based on 3 different contact length, compressive ratio and gas pressure. The calculated results of Cauchy stress and strain showed that the sealing characteristics of Teflon $^{ }$PTFE is more effective compared to that of FKM(Viton), which is related to the stiffness of the materials. And also, the contact length of the disk seal is important design parameter for sealing the S $F_{6}$ gas leakage in the safety valve.afety valve.

• Tribology and Lubricants
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• v.10 no.4
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• pp.82-88
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• 1994

This paper deals with a FEM computation as well as measurement of the contact force and distribution of the temperature in rubber lip seals when the sealing interference between the rotating shaft and the lip edge is present. The study of the contact forces and distributions of the temperature and the sealing contact stress has always been one of the basic steps in the process of designing a lip seal. The calculated FEM results indicate that as the sealing interference increases, the contact force moderately increases compared with decreased sealing interference at the seal lip edge and radically increases the contacting width. And the FEM computation of oontact forces including nonlinear problems has been compared with experimental measurements with good agreement. The frictional heat does not dissipate promptly in the rubber seal lip and tends to accumulate at the contacting lip edge especially.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.209-212
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• 2004

The O-ring seal is a usual component part in various mechanical apparatuses for sealing that makes efficient performance of the equipments. The sealing performance of 0-ring is effected in environments of the O-ring seal, like that applied pressures, working temperatures, interferences and materials. In this paper, an pressurized, NBR O-ring is calculated by experimental methods and analysed numerically using the MARC finite element program. The calculated experimental and FEM results showed that the Contact force O-ring decreases as a function of temperature.