• Title/Summary/Keyword: Static Friction Coefficient

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Predicting Maximum Traction for Improving Traversability of Unmanned Robots on Rough Terrain (무인 로봇의 효율적 야지 주행을 위한 최대 구동력 추정)

  • Kim, Ja-Young;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.10
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    • pp.940-946
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    • 2012
  • This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

Carrying Capacity Behavior of Instrumented PC Piles (시험 콘크리트 말뚝의 지지력 거동)

  • 이영남;이종섭
    • Geotechnical Engineering
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    • v.14 no.5
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    • pp.163-172
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    • 1998
  • To study the carrying capacity behavior of pile, dynamic pile testis and static load tests were carried out on two instrumented piles during and some time after pile driving. Cone Penetration Test( CPT) and Standard Penetration Test(SPT) were also performed at the test site before pile tests to investigate the relationship between unit skin friction of piles and cone tip resistance values and SPT N values. Total static capacity of pile reached the ultimate stage at the pile head settlement of about 0.055D (D : Pile diameter), at which skin friction of Pile already Passed the maximum value, but the end bearing was still increasing with the pile head settlement. The carrying capacity of pile increased in the form of natural logarithmic function with the time after pile driving. The increase in skin friction with time was very substantial the increase in skin friction 40 days after pile driving was 4.6 times of that determined during pile driving. The contribution of skin friction to the total capacity twas insignificant in the beginning, but became substantial 40 days after pile driving. This implies that the tested pile initially responded as an end bearing pile and later behaved as a friction pile. It was also noted that unit skin friction of pile might be ielated to cone tip resistance values(q.) and SPT N values, though the coefficient of this relationship might differ from one soil group to another and was somewhat greater than the value used in the design practice of Korea.

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Measurement of Mechanical and Physical Properties of Pepper for Particle Behavior Analysis

  • Nam, Ju-Seok;Byun, Jun-Hee;Kim, Tae-Hyeong;Kim, Myoung-Ho;Kim, Dae-Cheol
    • Journal of Biosystems Engineering
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    • v.43 no.3
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    • pp.173-184
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    • 2018
  • Purpose: This study was conducted to investigate the mechanical and physical properties of a Korean red pepper variety for particle behavior analysis. Methods: Poisson's ratio, modulus of elasticity, shear modulus, density, coefficient of restitution, and coefficient of friction were derived for "AR Legend," which is a domestic pepper variety. The modulus of elasticity and Poisson's ratio were measured through a compression test using a texture analyzer. The shear modulus was calculated from the modulus of elasticity and Poisson's ratio. The density was measured using a water pycnometer method. The coefficient of restitution was measured using a collision test, and the static and dynamic friction coefficients were measured using a inclined plane test. Each test was repeated 3-5 times except for density measurement, and the results were analyzed using mean values. Results: Poisson's ratios for the pepper fruit and pepper stem were 0.295 and 0.291, respectively. Elastic moduli of the pepper fruit and pepper stem were $1.152{\times}10^7Pa$ and $3.295{\times}10^7Pa$, respectively, and the shear moduli of the pepper fruit and pepper stem were $4.624{\times}10^6Pa$ and $1.276{\times}10^7Pa$, respectively. The density of the pepper fruit and the pepper stem were $601.8kg/m^3$ and $980.4kg/m^3$, respectively. The restitution coefficients between pepper fruits, pepper stems, a pepper fruit and a pepper stem, a pepper fruit and plastic, and a pepper stem and plastic were 0.383, 0.218, 0.277, 0.399, and 0.148, respectively. The coefficients of static friction between pepper fruits, pepper stems, a pepper fruit and a pepper stem, a pepper fruit and plastic, and a pepper stem and plastic were 0.455, 0.332, 0.306, 0.364, and 0.404, respectively. The coefficients of dynamic friction between a pepper fruit and plastic and a pepper stem and plastic were 0.043 and 0.034, respectively.

Prediction of dynamic soil properties coupled with machine learning algorithms

  • Dae-Hong Min;Hyung-Koo Yoon
    • Geomechanics and Engineering
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    • v.37 no.3
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    • pp.253-262
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    • 2024
  • Dynamic properties are pivotal in soil analysis, yet their experimental determination is hampered by complex methodologies and the need for costly equipment. This study aims to predict dynamic soil properties using static properties that are relatively easier to obtain, employing machine learning techniques. The static properties considered include soil cohesion, friction angle, water content, specific gravity, and compressional strength. In contrast, the dynamic properties of interest are the velocities of compressional and shear waves. Data for this study are sourced from 26 boreholes, as detailed in a geotechnical investigation report database, comprising a total of 130 data points. An importance analysis, grounded in the random forest algorithm, is conducted to evaluate the significance of each dynamic property. This analysis informs the prediction of dynamic properties, prioritizing those static properties identified as most influential. The efficacy of these predictions is quantified using the coefficient of determination, which indicated exceptionally high reliability, with values reaching 0.99 in both training and testing phases when all input properties are considered. The conventional method is used for predicting dynamic properties through Standard Penetration Test (SPT) and compared the outcomes with this technique. The error ratio has decreased by approximately 0.95, thereby validating its reliability. This research marks a significant advancement in the indirect estimation of the relationship between static and dynamic soil properties through the application of machine learning techniques.

Experimental and Numerical Investigation of Sliding Response of Unconstrained Objects to Base Excitations (바닥진동에 의한 비구속 물체의 거동파악 실험과 수치해석 전산프로그램의 개발)

  • Lee, Sang Ho
    • The Journal of the Korea Contents Association
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    • v.14 no.3
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    • pp.463-469
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    • 2014
  • Safety related devices unconstrained temporally in the process of operation of nuclear power plants could be damaged by the sliding during seismic activity. In this study sliding response of unconstrained objects to the base excitations is studied experimentally and analytically. In experiments static and dynamic tests to determine the coefficient of friction and the shaking table experiments to verify the sliding response of the analytic results were conducted. Numerical solutions by solving the nonlinear differential equations of motion governing sliding were found by the computer program using the step by step acceleration method. The exact solutions of the sliding response to the simple forms of base excitations were found to verify the computer program developed in this study. Relative displacement envelopes were suggested as a colliding criteria of the unconstrained objects.

Study on Low Temperature Curing Emulsion of PLA Fiber for Bedding (침장용 PLA 섬유에 대한 저온 경화유제에 관한 연구)

  • Ahn, Young-Moo
    • Journal of Fashion Business
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    • v.16 no.1
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    • pp.41-51
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    • 2012
  • Polyester is mainly used as a bedding filler material. PLA fiber as an eco-friendly material for substituting polyester has a low melting temperature and therefore a hardening process is impossible. This study is to develop the oil for feather touch that can treat at the melting temperature of PLA. The slippery and soft aminosilicone emulsion, and the bulky epoxysilicone emulsion were used. They had proper viscosity and particle size for flexibility and elasticity. When using methoxy aminosilane [$H_2NSi(OCH_3)_3$] as an aminosilane and [$Zn(OCOCH_3)_2$] as a catalyst, the hardening reaction was fast and effective. Feather touch process were treated by 2 steps. At first step, aminosilicone emulsion, epoxysilicone emulsion and methylaminosilane were mixed and homogenized, and at second step, 5% blened solution of the first step, Zn catalyst 1%, distilled water 94% were treated at PLA fiber. After treatment the static friction coefficient and dynamic friction coefficient were reduced to 23.5-60.8% and 30.0-61.3% respectively, and the laundry and sun light fastnesses have not shown any decrease.

The Surface Properties of Blend Film of Natural Rubber and Graft Latex by Dipping Process (Dipping법에 의한 천연고무와 그라프트 라텍스 블렌드 필름의 표면특성)

  • Kim, Kong-Soo;Park, Jun-Ha;Eum, Ju-Song
    • Applied Chemistry for Engineering
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    • v.5 no.6
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    • pp.990-997
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    • 1994
  • The vulcanized NR and blend films were prepared with mixing of natural rubber latex (NRL) and methyl methacrylated grafted latex(MGL) with various additives by dipping process. It was investigated the basic properties of vulcanized NR films that is optimum condition of the mature time, swelling degree, cure time at $110^{\circ}C$, and measured the mechanical properties of tensile strength and elongation of its condition. In order to identify the surface structure and the slip properties of blend films contact angles and static and kinetic friction coefficient were measured. Contact angles were decreased with increment of blend ratio of MGL, and static and kinetic friction coefficient were decreased rapidly for the NR/MG and NR-d-MG films than for the NR films. From the results, NR/MG and NR-d-MG films has slip's reinforcement in skin contact surface with increased of blend ratio of MGL.

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Modelling headed stud shear connectors of steel-concrete pushout tests with PCHCS and concrete topping

  • Lucas Mognon Santiago Prates;Felipe Piana Vendramell Ferreira;Alexandre Rossi;Carlos Humberto Martins
    • Steel and Composite Structures
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    • v.46 no.4
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    • pp.451-469
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    • 2023
  • The use of precast hollow-core slabs (PCHCS) in civil construction has been increasing due to the speed of execution and reduction in the weight of flooring systems. However, in the literature there are no studies that present a finite element model (FEM) to predict the load-slip relationship behavior of pushout tests, considering headed stud shear connector and PCHCS placed at the upper flange of the downstand steel profile. Thus, the present paper aims to develop a FEM, which is based on tests to fill this gap. For this task, geometrical non-linear analyses are carried out in the ABAQUS software. The FEM is calibrated by sensitivity analyses, considering different types of analysis, the friction coefficient at the steel-concrete interface, as well as the constitutive model of the headed stud shear connector. Subsequently, a parametric study is performed to assess the influence of the number of connector lines, type of filling and height of the PCHCS. The results are compared with analytical models that predict the headed stud resistance. In total, 158 finite element models are processed. It was concluded that the dynamic implicit analysis (quasi-static) showed better convergence of the equilibrium trajectory when compared to the static analysis, such as arc-length method. The friction coefficient value of 0.5 was indicated to predict the load-slip relationship behavior of all models investigated. The headed stud shear connector rupture was verified for the constitutive model capable of representing the fracture in the stress-strain relationship. Regarding the number of connector lines, there was an average increase of 108% in the resistance of the structure for models with two lines of connectors compared to the use of only one. The type of filling of the hollow core slab that presented the best results was the partial filling. Finally, the greater the height of the PCHCS, the greater the resistance of the headed stud.

Three-Dimensional Numerical Simulation on a Circular-to-Rectangular Transition Duct (Circular-to-Rectangular Transition Duct 에서의 3차원 유동장에 관한 연구)

  • Cho Soo-Yong;Son Ho-Jae
    • 한국전산유체공학회:학술대회논문집
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    • 1998.11a
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    • pp.55-61
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    • 1998
  • The purpose of this study is to compare the predictive behaviors of the extended $k-{\varepsilon}$ turbulence model and the standard $k-{\varepsilon}$ turbulence model. Grid dependency is tested with the H-type grid and the O-type grid. Computations have been performed for a circular-to-rectangular transition duct. Numerical results for several sections along the streamwise have been obtained to compare with experimental results. The Reynolds number is 390,000 based on the bulk velocity at the inlet. The computed axial velocity contours, transverse velocity profiles, static pressure contours, peripheral skin friction coefficient, and peripheral wall static pressure distributions have been compared with experimental results. The computed results obtained with the extended $k-{\varepsilon}$ turbulence model show better agreement with experimental results than those obtained with the standard $k-{\varepsilon}$ turbulence model. Comparing to the computed results obtained with the H-type grid and O-type grid, those with H-type grid agree well with experimental results.

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Three-Dimensional Numerical Simulation within a Circular-to-Rectangular Transition Duct (Circular-to-Rectangular Transition Duct 내부의 3차원 유동장에 관한 연구)

  • Jo, Su-Yong;Jeong, Hui-Taek;Son, Ho-Jae
    • Journal of computational fluids engineering
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    • v.3 no.2
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    • pp.9-16
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    • 1998
  • Predictive behaviors by the extended k-${\varepsilon}$ turbulence model and the standard k-${\varepsilon}$ turbulence model are compared. Grid dependency is tested with the H-type grid as well as the O-type grid. Computations have been performed on a circular-to-rectangular transition duct. The Reynolds number is 390,000 based on the bulk velocity at the inlet. The computed axial velocity contours, transverse velocity profiles, static pressure contours, peripheral skin friction coefficient, peripheral wall static pressure distributions and turbulence kinetic energy have been compared with experimental results. The computed results than those obtained with the standard k-${\varepsilon}$ turbulence model. Comparing to the computed results obtained with the H-type grid and O-type grid, those with H-type grid seem to agree well with experimental results.

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