• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.468-472
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• 2013

This paper deals with the indoor localization problem for a SSMR (Skid Steering Mobile Robot) subjected to wheel-ground friction and with one LRF (Laser Range Finder). In order to compensate for some friction effect, a friction related coefficient is estimated by the recursive least square algorithm and appended to the maneuvering command. Also to reduce odometric information based localization errors, the lines are extracted with scan points of LRF and matched with the ones of the corresponding map built in advance. The present friction compensation and scan map matching schemes have been applied to a laboratory SSMR, and experimental results are given to validate the localization performance along an indoor corridor.

• 한국정밀공학회지
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• 제22권2호
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• pp.188-193
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• 2005

Surface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2004년도 학술대회지
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• pp.17-24
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• 2004

Surrface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern using photolithography on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• 대한기계학회논문집A
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• 제29권3호
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• pp.411-417
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• 2005

Surface texturing of tribological application is another attractive technology of friction reducing. Also, reduction of friction is therefore considered to be a necessary requirement for improved efficiency of machine. In this paper attempts to investigate the effect of density for micro-scale dimple pattern using photolithography on bearing steel flat mated with pin-on-disk. We demonstrated the lubrication mechanism for a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for lubrication condition. It is found that friction coefficient is depended on the density of surface pattern. It was thus verified that micro-scale dimple could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions from based on friction map. Lubrication condition regime has an influence on the friction coefficient induced the density of micro dimple.

• KSTLE International Journal
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• 제6권2호
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• pp.51-57
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• 2005

Surface texturing of tribological applications is an attractive technology of engineered surface. Therefore, reduction of friction is considered to be necessary for improved efficiency of machines. The current study investigated the potential of textured micro-scale grooves on bearing steel flat mated with pin-on-disk. We discuss reducing friction due to the influence of sliding direction at surface pattern. We can indicate lubrication mechanism as a Stribeck curve, which has a relationship between the friction coefficient and a dimensionless parameter for the lubrication condition. It was found that the friction coefficient was changed by the surface pattern and sliding direction, even when surface pattern was the same. It was thus verified that micro-scale grooves could affect the friction reduction considerably under mixed and hydrodynamic lubrication conditions. The lubrication regime influences the friction coefficient induced by the sliding direction of groove pattern. The friction coefficient depends on a combination of resistance force and hydrodynamic.

• 로봇학회논문지
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• 제5권4호
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• pp.339-348
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• 2010

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

• 한국산림과학회지
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• 제80권3호
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• pp.317-325
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• 1991

경영적(經營的) 요소에서부터 환경보호(環境保護) 측면까지 임도(林道) 노선(路線)의 선정(選定)에서는 여러가지 고려되어야 할 사항들이 많다. 이 연구(硏究)에서는 다각적인 상황하(狀況下)에서 임도노선망(林道路線網) 계획과정(計劃過程)을 컴퓨터 지도분석을 통하여 보다 효과적(效果的)으로 접근해보려 한다. 소규모의 임도설정구획(林道設定區劃)을 대상으로 노선계획(路線計劃)에 필요한 세가지 가정(假定) 상황(狀況)을 부여하였다. 첫번째의 임도계획은 단지 경사도(傾斜度)만을 고려하였고, 두번째의 계획은 경사도와 함께 토양침식(土壤浸蝕)을 축소하는 방향으로 시도되었으며, 세번째의 계획은 경사도, 최소한의 토양침식, 그리고 산 림경관보호(山林景觀保護)를 다함께 고려하는 관점에서 접근하였다. 연구지역의 지형도(地形圖), 임소반(林小班) 구획도(區劃圖), 지적도(地籍圖)등을 컴퓨터로 처리하기 위하여 디지탈 자료화(資料化)한 후, 연결분석(連結分析)(connectivity analysis)을 주축으로하는 여러가지 컴퓨터 지도분석 기법(技法)들을 적용하였다. 분석 결과는 삼차원 도면을 이용한 시각적 방법과 계획임도상(上) 지형의 횡단측면(橫斷測面)을 통한 경사도(傾斜度) 및 전장(全長) 등의 비교를 바탕으로 검토되었다. 컴퓨터를 이용한 지도분석기법은 여러가지 복합적인 사항을 동시에 고려해야 하는 임도계획과정을 보다 효과적으로 수행(遂行)할 수 있다는 잠재력(潛在力)을 보여주고 있다.

• 한국정밀공학회지
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• 제31권3호
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• pp.253-259
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• 2014

This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1999년도 춘계학술발표회요약집
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• pp.115-115
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• 1999

To demonstrate the applicability of RELAP5 to the prediction of the onset offlooding in the hot leg at the reflux condensation phase during mid-loop operation, numerical analysis is performed for the counter-current flow in a horizontal pipe with the inclined riser using the RELAP5/MOD3.2.2b code. It is found that the RELAP5, simulating the CCFL phenomena using interfacial friction along with the flow regime map in the horizontal pipe, produces unsatisfactory results. Under the CCFL condition, it is observed that large oscillation exists in the flow rate, void fraction, and etc. and the liquid flow rate is much lower than that predicted by the CCFL model measured in the experiment. The CCFL model of RELAP5 for the vertical volume is extended to the model for the horizontal and inclined volumes. The horizontal volume flow regime map and interfacial friction model coupled to the CCFL model are modified. And a new correlation developed from Kang's experiment is implemented to the CCFL model of RELAP5. With this modified RELAP5, the analysis of CCFL phenomena in the horizontal pipe and hot leg geometry is performed, and produces reasonable results in comparison with experimental data.

• 한국안전학회지
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• 제14권4호
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• pp.3-12
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• 1999

This research concentrates on the influence of non-linearities associated with impact for the nonlinear rocking behavior of rigid block subjected to one dimensional sinusoidal excitation of horizontal direction. The transition of two governing rocking equations, the abrupt reduction in the kinetic energy associated with impact, and sliding motion of block. In this study, two type of rocking vibration system are considered. One is the undamped rocking vibration system, disregarding energy dissipation at impact and the other is the damped rocking system, including energy dissipation and sliding motion. The response analysis using non-dimensional rocking equation is carried out for the change of excitation parameters and friction coefficient. The chaos responses were discovered in the wide response region, particularly, for the case of high excitation amplitude and their chaos characteristics were examined by the time history, Poincare map, power spectra and Lyapunov Exponent of rocking responses. The complex behavior of chaos response, in the phase space, were illustrated by Poincare map. The bifurcation diagram and Poincare map were shown to be effective in order to understand chaos of rocking system.