• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.5
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• pp.7-14
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• 2002

In order to achieve high precision machine tools, the research for performance enhancement of feed drive systems is required. Development of the high speed feed drive system has been a major issue for the past few decades in machine tool indestries. Because table levitation system decrease the table weight, an effect of reaction by weight is minimized and lost motion can be removed at maximum. In case fled system is designed with drive motor, ball screw and support bearing load capacity selection, an effect of decrease of the table weight exist. So, the table weight through an effect of decrease call it into the realization of cost down. Stick-slip friction has a great influence on the contouring accuracy of CNC machine tools. In this paper table levitation system has been developed for the stick-slip in a fled drive systems.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.736-744
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• 2003

The GPS attitude output or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS information is directly applied to the AGPS/INS integration system, the performance of the system can be rapidly degraded. This paper proposes an AGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which inertial information is combined. Computer simulations and van test were performed to verify the proposed integration system. The results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correct and the cycle slip occurs.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2001.10a
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• pp.216-219
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• 2001

The production of fine wire through multi-pass wet wire drawing process would be impossible with no backtension at inlet of dies. Backtension is affected by many process parameters, such as dies reduction, coiling number of wire at capstan, machine constant, slip between wire and capstan, characteristic of lubricant and so on. Up to date, dies design and dies pass schedule of multi-pass wet wire drawing process have performed by trial and error of expert in the Industrial field without consideration of quantitative relation among process variables. Thus study investigates the multi-pass wet wire drawing process considering the relation among process variables, such as dies reduction, coiling number of wire at capstan, machine constant, slip between wire and capstan, etc. And analysis program which can analyze many important process values(drawing force, backtension force, slip rate, slip velocity rate, etc) for die design and dies pass schedule of multi-pass wet wire drawing process was developed.

• Transactions of Materials Processing
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• v.14 no.8 s.80
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• pp.689-695
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• 2005

Multi-pass wet wire drawing process is used to produce fine wire in the industrial field. The production of fine wire through multi-pass wet wire drawing process with appropriate dies pass schedule would be impossible without understanding the relationship among many process parameters such as material properties, dies reduction, friction conditions, drawing speed etc However, in the industrial field, dies pass schedule of multi-pass wet wire drawing process has been executed by trial and error of experts. This study investigated the relationship among many process parameters quantitatively to obtain the important process information fur the appropriate pass schedule of multi-pass wet wire drawing process. Therefore, it is possible to predict the many important process parameters of multi-pass wet wire drawing process such as dies reduction, machine reduction, drawing force, backtension force, slip rate, slip velocity rate, power etc. The validity of the analyzed drawing force was verified by FE simulation and multi-pass wet wire drawing experiment. Also, pass redesign was performed based on the analyzed results, and the wire breakage between the original pass schedule and the redesigned pass schedule was compared through experiment.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.123-128
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• 2007

Already, core wall construction method for apartment wall structure and general building special areas applied the engineering method's appropriate examination. Also, trial and error depending on slip-form method is a good examination opportunity to consider. In the present paper's slip-form engineering method l)Casting concrete to slab in sliding 2)RC structure + SRC structure (part of segment) 3)Inside segment variation(straight line-diagonal-circle) are together while determining whether it is possible not to carry out actual construction work on the structure. Finally, small problems continuously appear on actual slip-form method application, design and engineering, starting with planning thoroughly the field examination and diagnosing the atmosphere, minimizing cost, secure work safety facilities characterized by good quality, slip-form research extension, development and decision-making.

• Journal of the Ergonomics Society of Korea
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• v.32 no.1
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• pp.9-16
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• 2013

Objective: The aim of this study is to investigate a trend of human error types observed in a series of verification and validation experiments for an Advanced Control Room(ACR) equipped with Lager Display Panel(LDP), Work Station Flat Panel Display(WS FPD), list type Alarm System(AS), Soft Control(SC) and Computerized Procedure System(CPS). Background: Operator behaviors in a fully computerized control room are quite different from those in a traditional hard-wired control room. Operators in an ACR all together monitor plant status and variables through their own interface system such as LDP and WS FPD, are notified of abnormal plant status through their own list type AS, control the plant through their own SC, and follow the structured procedure through their own CPS whereas operators in a traditional control room only separately do their duty directed by their supervisor. Especially the secondary task such as manipulating the user interface of ACR can be an extra burden to all the operators including the supervisor. Method: The Reason's human error classification method was applied to operators' behavioral data collected from a series of verification and validation experiments where operators showed their plant operational behaviors under a couple of harsh scenarios using the ACR simulator. Results: As operators accustomed to the new ACR system, knowledge or rule based mistakes appearing frequently in the early series of experiments decreased drastically in the latest stage of the series. Slip and lapse types of errors were observed throughout the series of experiments. Conclusion: Education and training can be one of the most important factors for the operators accustomed to the traditional control room to be adapted to the new system and to run the ACR successfully. Application: The results of this study implied that knowledge or rule based mistakes can be reduced by training and education but that lapse type errors might be reduced only through innovative improvement in human-system interface design or teamwork culture design including a new leadership style suitable for ACR.

• Water for future
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• v.21 no.1
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• pp.67-76
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• 1988

Analyzed was the circulation phenomena in the open channel with sudden expansion, by applying the Galerkin's finite element method to the depth-averaged 2-dimensional continuity and momentum equations. Wave tests were done in the simplified channel in order to review the validity of this newly developed model and the computed results were within 0.5% of $L_2$-norm error, and application of this model to the simulation of simplified dam-break gave very close results compared with the analytical solution, thus, it can be concluded that this model is valid and efficient. The main flow in the expanded channel was defined as a new initial condition with given velocity and the flow in the expanded portion was at rest in simulating the circulation, and besides the Neumann's condition the slip boundary condition for lateral wall was found to be proper condition than the no-slip condition. It can be concluded, from the numerical tests in the sudden expension, that the circulating phenomena depend mainly on the convective inertia and the effect of turbulence due to bottom shear and lateral shear is insignificant.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.708-713
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• 1994

A new flux observer based vector control system of an induction motor is constructed by using an observer in which the commanded stator currents are used to estimate the rotor flux. In this system, the flux observer is formulated by using a model of induction motor in a stationary coordinate system. By considering an observer of induction motor in a fixed co-ordinate system located on its secondary flux, a slip frequency controlled type of vector control system is also proposed. From these control schemes, the relation between the conventional slip frequency controlled type system and the observer based one is clarified. The steady-state error of the developed torque which is caused by the parameter change of induction motor is analyzed and discussed for the selection of observer gains. The poles of the observer error dynamics and those of the observer based vector control system are calculated analytically by neglecting the machine parameter change. In order to analyze the robust stability, a linear model of the observer based vector control system is proposed taking into account the machine parameter change. By using this model, the trajectories of the poles and zeros of the torque transfer function are computed and discussed. To test validity of the theoretical analysis, experiments are conducted by using a digital signal processor (TMS320C30) and a current controlled voltage source PWM inverter.