• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.356-360
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• 2015

In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

• The KSFM Journal of Fluid Machinery
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• v.12 no.1
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• pp.35-42
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• 2009

The flow and heat/mass transfer characteristics on the squealer tip surface of a high-turning turbine rotor blade have been investigated at a Reynolds number of $2.09{\times}10^5$, by employing the oil-film flow visualization and naphthalene sublimation technique. The squealer rim height-to-chord ratio and tip gap height-to-chord ratio are fixed as typical values of $h_{st}/c$ = 5.5% and h/c = 2.0%, respectively, for turbulence intensities of Tu = 0.3% and 15%. The results show that the near-wall flow phenomena within the cavity of the squealer tip are totally different from those over the plane tip. There are complicated backward flows from the suction side to the pressure side near the cavity floor, in contrast to the plane tip gap flows moving toward the suction side after flow separation/reattachment. The squealer tip provides a significant reduction in tip surface thermal load with less severe gradient compared to the plane tip. In this study, the tip surface is divided into six different regions, and transport phenomena at each region are discussed in detail. The mean thermal load averaged over the squealer cavity floor is augmented by 7.5 percents under the high inlet turbulence level.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.4 no.3
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• pp.245-253
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• 2006

A test of the 1/3 scale model was conducted to verify the tip-over analysis of a dry. concrete storage cask under a hypothetical accident condition. The tip-over analysis was executed using the velocity at each point as the initial conditions of the model just before the impact. The initial velocity was determined from the initial angular velocity, which would make the equivalent kinetic energy to the potential energy. To confirm the structural integrity of the canister, the visual testing and the non-detective testings such as Liquid Penetrant testing and Ultrasonic Testing were conducted. The lid of a storage cask was plastically deformed near the impact point. The structural integrity of storage cask was maintained. To verify the tip-over analysis the strains and the accelerations acquired by the tip-over test were compared with those by the analyses. The results of the analysis were larger than the test results about two times.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1718-1723
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• 2007

The Probe Card is a test component which is to classify the good semiconductor chips before the packaging. The yield of semiconductor product can be better from analysis of probe test information. Recently the technology of the probe card needs narrow width and large amount of probe tip. In this research, the probe tip based on the MEMS(micro electro mechanical system) technology was designed and fabricated to improve the reliability of the test and to meet 2-dimensional Array of tip. The mechanical and electrical properties of proposed tip were evaluated and it has over 100,000 of repetition times in the condition of 5gf, $20{\mu}m$ Over Drive.

• Journal of Welding and Joining
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• v.2 no.1
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• pp.41-48
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• 1984

Recrystallization technique was applied to analyze plastic strain at the notch tip of coarse grain HAZ in mild steel (SB 41) and high strength steel (SA 588). The notch tip of specimen was deformed by three point bending. Accumulated displacement (Crack Opening Displacement ${delta}t$) by the monotonic and cyclic loading under room temperature and hot strain embrittlement temperature ($250^{\circ}C$) was 0~1.0mm. Recrystallization heat treatment conditions were $650^{circ}C{ imes}3hr$ for SB 41 and $700^{circ}C{ imes}3hr$ for SA 588. The experimental results obtained were as follows ; 1) Distribution of the effective plastic strain at plastic zone was appeared by the function of crack opening displacement, and plastic zone or the effective plastic strain increased with crack opening displacement. 2) Plastic strain at notch tip of HAZ due to accumulated hot strain calculated as follows. .epsilon. over bar $_{p}$ = .epsilon. over bar $_{cr}$ (x/ $R_{x}$ ) $^{m}$ (m=0.25) 3) Work hardending ratio of notch tip for hot strain was linearly increased with .epsilon. over bar $_{max}$ and dependent upon the material types.s.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.2
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• pp.133-139
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• 2016

An electric wheelchair is a assistive device to maneuver on the ground. Tip-over of an electric wheelchair is increasing every year. Dynamic stability metric test item in KS P 7176 has not ensured safety of electric wheelchair on the slope. This study presents design the foldable electric wheelchair that can load in the car and analysis of tip-over measurement which is easily computed for electric wheelchair. Wheelchair frame is designed with a four-bar link mechanism for a foldable structure, and seat module, battery and power driving module can be separated. This analysis is performed during a maneuver on the ground by force-moment stability metric. Several elements, center of gravity position, rotational radius and acceleration, were evaluated how to affect stability metric. This stability metric can reduce tip-over of wheelchair and provide a clue to make of dynamic stability test item.

• The KSFM Journal of Fluid Machinery
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• v.15 no.6
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• pp.5-10
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• 2012

The effect of pressure-side opening length on three-dimensional flow fields and aerodynamic losses downstream of a cavity squealer tip has been investigated in a turbine rotor cascade for the squealer rim height-to-chord ratio and tip gap height-tochord ratio of $h_{st}/c$ = 5.05% and h/c = 2.0% respectively. The opening length-to-camber ratio is changed to be $OL/c_c$ = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, and 0.7 The results show that longer OL leads not only to weaker secondary flow but also to lower aerodynamic loss in the tip leakage vortex region, while it significantly widens the area with high aerodynamic loss in the passage vortex region. The aerodynamic loss coefficient mass-averaged all over the measurement plane is kept almost constant for $0.0{\leq}OL/c_c{\leq}0.3$, whereas it increases rapidly for $OL/c_c$ > 0.3 in proportion to $OL/c_c$. There is little deterioration in flow turning with increasing $OL/c_c$.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.8
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• pp.851-856
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• 2012

The design process of a micro-probe tip is very complicated and expensive. To avoid these problems, in this study, we used element (FE) analysis. To simplify design process. A new pre-probe tip (cobra-needle type) made of Ni and Co was designed by FE analysis. Experimental results were compared with those obtained by FE analysis to verify the reliability of the analysis. The contact force and over drive were respectively found to be 12.5 gf(Contact Force) and $100{\mu}m$(Over drive). We propose the new designed probe tip. Material of new designed probe tip is NiCo. Values of Property are 1~2 gf(Contact Force) and $100{\mu}m$(Over drive).

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2005.11a
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• pp.237-246
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• 2005

A tip-over test of the 1/3 scale model is conducted to verify the tip-oner analysis of a dry concrete storage cask under a hypothetical accident condition. The tip-oner analysis is executed using the velocity at each point which are determined from the initial angular velocity as the initial conditions of the model just before the impact. To confirm the structural integrity of the canister of a dry concrete storage cask, the non-detective testing such as Liquid Penetrants testing and Ultrasonic Testing are conducted. The strains and tile accelerations acquired by the tip-over test are compared with those by the analysis to verify the tip-over analysis. The lid of a storage calk are plastically deformed at the impact point. Liquid