• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.364-372
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• 2006

In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Tribology and Lubricants
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• v.23 no.1
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• pp.9-13
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• 2007

Despite numerous researches on atomic-scale friction have been carried out for understanding the origin of friction, lots of questions about sliding friction still remain. It is known that friction at atomic-scale always shows unique phenomena called 'stick-slips' which reflect atomic lattice of a scanned surface. In this work, experimental study on the effects of system stiffnesses and load on the atomic-scale stick-slip friction of graphite was performed by using an Atomic Force Microscope and various cantilevers/tips. The objective of this research is to figure out the dependency of atomic-scale friction on the nanomechanical properties in sliding contact such as load, stiffness and contact materials systematically. From this work, the experimental observation of transitions in atomic-scale friction from smooth sliding to multiple stick-slips in air was first made, according to the lateral cantilever stiffness and applied normal load. The superlubricity of graphite could be verified from friction vs. load experiments. Based on the results, the relationship between the stickslip behaviors and contact stiffness was carefully discussed in this work. The results or this work indicate that the atomic-scale stick-slip behaviors can be controlled by adjusting the system stiffnesses and contact materials.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1808-1813
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• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1203-1211
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• 2004

A traction control systems (TCSs) composed of either a wheel slip controller or a throttle valve controller or an integrated controller of both systems are proposed in this study. To validatethe dynamic characteristics of a vehicle and TCS, a full car model that can simulate the responses of both front wheel drive (2WD) and four wheel drive (4WD) vehicle is also developed. The wheel slip controller uses a sliding mode control scheme and the throttle valve is controlled by a PID controller. The results shows that tHe brake TCS and the engine TCS achieve rapid acceleration, and reduce slip angle on slippery road. When a vehicle is cornering and accelerating maneuver with the brake or engine TCS, understeer or oversteer occur, depending on the driving conditions. The integrated TCS prevents most of these problems and improves the stability and controllability of the vehicle.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.285-287
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• 1995

In the case of driving the SLIM(Single-sided Linear Induction Motor) as the VVVF inverter, the performance of SLIM, which is a thrust, normal force and so on, varies according to a slip frequency as a function of the external load. It is impossible that the open-loop control method control the speed of a SLIM accurately. So that, this paper is proposed the speed control method of a SLIM for a automatic conveyor system with the slip frequency vector control method. To analyze the dynamic characteristics of a SLIM, the state equation is derived from the equivalent circuit of the SLIM, ignored the end effect. The slip frequency and the normal force of SLIM are constantly controlled at the steady state. The simulated results is compared with the experimental values.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.528-535
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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 industries. The reduction of the tool change time as well as rapid travel time can enhance the productivity. However, the high speed feed drive system generates more heat in nature, which leads thermal expansion that has adverse effects on the accuracy of machined parts. 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 feed drive systems. And also, the driving position is set near the center of the main slideway. From the results, it is confirmed that yaw error and straightness can be improved.

• International Journal of Automotive Technology
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• v.1 no.1
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• pp.48-55
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• 2000

Two major roles of the traction control system (TCS) are to guarantee the acceleration performance and directional stability even in extreme road conditions, under which average drivers may not control the car properly. Commercial TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various road and vehicle conditions. This paper proposes a new slip controller which uses the brake and the throttle actuator simultaneously. To avoid measurement problems and to get a simple structure, the brake controller and the throttle controller are designed using Lyapunov redesign method and multiple sliding mode control respectively. Through the hybrid use of brake and throttle controllers, the vehicle is insensitive to the variation of the vehicle mass, brake gain and road condition and can achieve the required acceleration performance. The proposed method is validated with simulations based on 15 DOF passenger car model.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.40-45
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• 2001

This paper proposes a methodology for the small-displacement-movement of a piston and develops a hybrid control algorithm for the precision position control of a pneumatic rodless cylinder. The pneumatic system uses the voltage-proportional solenoid valves to minimum valve switching since the on/off type valves are create diffculties for accurate position control and induce a lot of valve switching. For the accurate position control a methodology for the small-displacement-movement of the piston is developed and identified experimentally. The main consideration on the development of the hybrid control law is to eliminate a stick-slip phenomenon in the pneumatic control system. This paper addresses these critical issues and presents experimental results for the pneumatic control system.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.5
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• pp.494-500
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• 2005

The paper proposed a control strategy for flywheel energy/recovery system with induction machine at the dynamic UPS system using the flywheel stored mechanical energy. The performances for the vector controlled induction generator are compared with those for the induction generator using slip control method. The strategy to improve the transient responses for dc link capacitor voltage is suggested at the transition from the motoring mode to the generating mode. The strategy Proposed by the paper is verified with experiment results using 32bit DSP.