• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.73-80
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• 2008

Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.72-80
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• 2013

For the proper cooling of in-wheel motor, the cooling channel should have the characteristics which are low pressure drop and adequate cooling oil supply to motor part. In this study, the flow performance of cooling channel for in-wheel motor was evaluated and the shape of the channel was optimized. First, the pressure drop and flow distribution characteristics of the initial channel model were evaluated using numerical analysis. Also, by the result of analysis and design modification, 4 design parameters of the channel were selected. Second, using the Taguchi optimal method, the cooling channel was optimized. In the method, nine models with different levels of the design parameters were generated and the flow characteristics of each models was estimated. Base on the result, the main effect of the design parameters was founded and optimized model was obtained. For the optimized model, the pressure drop and oil flow rate were about 0.196 bar and 0.207 L/min, respectively. The pressure drop decreased by about 0.3 bar and the oil flow rate to the motor part increased by about 0.2 L/min compared to the initial model.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.1542-1549
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• 2011

The Transitional zone between bridge abutment and earthwork is one of the representative vulnerable zones in railway where differential settlements may take place due to the different supportive stiffness. Although transitional zones are managed with stricter standards than those of the other earthwork zones either in the design and construction stages, it is very difficult to prevent differential settlement perfectly. A three-dimensional numerical analyses were performed by applying train moving load in this study. The analytical model including abutments and earthwork zones was constituted with rail, sleepers, track concrete layer (TCL), hydraulic stabilized base (HSB), reinforced road bed, and road bed using railway and road base structure. The clamp connecting the rail and sleeper were also modeled as the element with spring coefficient. The train wheel is modeled in the actual size and moved on the rail with 300 km/hr speed. The deformation characteristics at each point of the rail and the ground were considered in detail when moving the train wheel. The analysis results were compared with those from the two-dimensional analysis without considering moving load. The research results show that displacement and stress were greater in the three-dimensional analysis than in other analyses, and the three-dimensional analysis with moving load should be performed to evaluate railway performance.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.14 no.6
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• pp.111-121
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• 2015

The objective of this study is to develop an automatic object changer unit to improve changing process problems existing in the conventional horizontal machining center. In order to perform this objective, an upward and downward traverse unit was designed. This unit consists of a motor, reducer, chain and sprocket wheel, and an upper and lower base. This automatic object changer unit performs a sliding contact motion in a purpose built and designed frame. Constraint conditions for the upward and downward traverse unit were first designed. Then, an operation mechanism was designed and introduced as the sum of the kinetic energy for the sprocket wheel and the upper and lower base and which was based on the moment of inertia, which is the kinetic energy of the converted upward and downward traverse unit in the side of the reducer. The paper covers the design of th e Automatic Pallet Changer for th e machining center.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.5
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• pp.84-90
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• 2009

The bi-modal tram is under development as a new public transportation. The features of the tram are an extended wheel base and its length. This features result in difficulties for drivers on maneuvering the tram. Therefore, the all wheel steering system is applied to the articulated vehicle. The AWS system enables the vehicle to steer all the rear wheels independently and improves its driving characteristics. However, the bi-modal tram has a problem to move backward in the limited place because of its geometric feature and the AWS system. Hence, the reverse parking assistant algorithm for articulated vehicle is developed to solve the problems of the reverse parking. Using the vehicle model which includes the reverse parking assistant algorithm, the dynamic analysis is performed for several parking cases. By the result of the analysis, the stability and validity of the reverse parking assistant algorithm is verified.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.99-108
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• Journal of the Korean Society for Railway
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• v.10 no.4
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• pp.444-450
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• 2007

The bi-modal tram guided by the magnetic guidance system has two car-bodies and three axles. Each axle of the vehicle has an independent suspension to lower the floor of the car and improve ride quality. The turning radius of the vehicle may increase as a consequence of the long wheel base. Therefore, the vehicle is equipped with the All-Wheel-Steering(AWS) system for safe driving on a curved road. Front and rear axles should be steered in opposite directions, which means a negative mode, to minimize the turning radius. On the other hand, they also should be steered in the same direction, which means a positive mode, for the stopping mode. Moreover, only the front axle is steered for stability of the vehicle upon high-speed driving. In summary, steering angles and directions of the each axle should be changed according to the driving environment and steering mode. This paper proposes an appropriate AWS control algorithm for stable driving of the bi-modal tram. Furthermore, a multi-body model of the vehicle is simulated to verify the suitability of the algorithm. This model can also analyze the different dynamic characteristics between 2WS and AWS.

• Tribology and Lubricants
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• v.30 no.6
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• pp.364-369
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• 2014

To assess the wear behavior of rails against subway rail car wheels, we investigate the sliding wear behavior of pins derived from two types of rails (normal rails and heat-treated rails) against a disc derived from a subway rail car wheel, using a pin-on-disc-type tribometer. We base the sliding wear test conditions on the sliding conditions for wheel flange-rail gauge corner contact. We demonstrate the remarkable transition in the wear behavior of the pins derived from the rails, from severe wear to mild wear, as a function of the sliding distance. The wear rate of the heat-treated rail material in the running-in wear region is much lower than that of the normal rail material. Furthermore, the wear rates of the pins in the running-in wear region decrease with increasing hardness and with decreasing sliding speed. However, there is little difference between the heat-treated rail pin and the normal rail pin in the wear rate in the steady-state wear region. Stricter controls on the decarburized layer beneath the surface of rails are required to reduce the wear rate in the running-in wear region.

• The Journal of Korean Academy of Prosthodontics
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• v.38 no.1
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• pp.1-11
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• 2000

Relining and rebasing are essential for long-term success and oral health in removable prosthodontics. Major features of failures between metal base and relining resins are adhesive failure due to lack of chemical bonding. The purpose of this study was to find a better metal primer and metal surface treatment method that enhance the bonding strength with relining resin materials. The surfaces of ticonium alloys were treated with $25{\mu}m$ sandblasting (Group A), stone wheel(Group B), stone wheel and EZ oxisor(Group C), $75{\mu}m$ sandblasting(Group D) and EZ oxisor application after $75{\mu}m$ sandblasting(Group E). They were subdivided into no primer application (Group I), MR bond application(Group II) and Metafast bonding liner (Group III). Then specimens were completed though being bonded with relining resins. The specimens were stored in $38^{\circ}C$ water for 48 hours and tensile strength was measured using the universal testing machine. The results were as follows, 1. Primer application groups showed higher bond strength than no primer application group(p<0.05). 2. In comparison with primer application groups, MR bond group showed higher bond strength than Meta fast bonding liner application group(p<0.05). 3. In comparison with surface treatment methods, Bond strengths of group A and B were significantly different with group C, D, and E, and group C were significantly different with group D, and E in no primer application group()(0.05). In primer application groups, group A, B, C were significantly different with group D and E(p<0.05). According to results of this study, Metal primer application and metal surface roughening were considered to be advantageous for relining of metal base dentures.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.278-283
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• 2009

The bimodal tram with a pivoting joint has difficulty in making a sharp turn because of their long body and wheel base. Therefore, applying AWS(all wheel steering) to the bimodal tram is effective to reduce the turning radius. In the present study, HILS(hardware in the loop simulation) system for the AWS ECU test was developed, which consists of the components used in real vehicles. The data obtained from the HILS system also satisfied the dynamics simulation without any error on the operation control.