• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Transactions of Materials Processing
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• v.12 no.4
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• pp.314-319
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• 2003

In the micro hole punching, the size and shape of burr and burnish zone are very important factors to evaluate quality of micro holes which depend on punch-die clearance, strain rate, workpiece material and etc. To get micro holes with small burr and wide burnish zone for industrial demands, not only the parametric study but also a study on fracture behavior in shear band are necessary. In this study, 100 $\mu$m, 25 $\mu$m micro holes in diameter were fabricated on brass (Cu63/Zn37) and SUS 316 foils as aspect ratio 1:1, and the characteristics of micro holes was investigated comparing with those of macro holes over several mm by scanning electron microscopic views and section views. Like macro hole, micro hole is also composed of 4 portions, rollover. burnish zone, fracture zone and burr, and it shows similar fracture behavior in shear band. But by high strain rate (10$^2$∼10$^3$s$^{-1}$ ) condition unlike that of macro hole fabrication and by the increment of relative grain size in the direction of the workpiece thickness, fracture zone is not observed.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.11 no.2
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• pp.167-175
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• 1999

B.P.F.(Blade Passing Frequency) levels were measured with the cut-off clearance changes. The velocity inside the scroll, pressure fluctuation at cut-off region, and the scroll surface pressure distribution along the scroll from the cut-off to outlet were measured. With a certain cut-off clearance the improvement of efficiency and attenuation of B.P.F. noise level could be achieved. The measured results of pressure fluctuation and scroll surface pressure distribution showed that the secondary flow inside the scroll increased B.P.F. noise level at the cut-off region as the cut-off clearance got wide.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.05a
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• pp.230-235
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• 2003

In the micro hole punching, the size and shape of burr and burnish zone are very important factors to evaluate quality of micro holes which depend on punch-die clearance, stain rate, workpiece material and etc. To get micro holes with small burr and wide burnish zone for industrial demands, not only the parametric study but also a study on fracture behavior in shear band are necessary. In this study, 100 $\mu\textrm{m}$, 25 $\mu\textrm{m}$ micro holes in diameter were fabricated on brass (Cu63/Zn37) and SUS 316 foils as aspect ratio 1:1, and the characteristics of micro holes was investigated comparing with man holes over several mm by scanning electron microscopic views and section views. Like macro hole, micro hole is also composed of 4 portions, rollover, burnish zone, fracture zone and it shows similar fracture behavior in shear band, but？ by high strain rate (10$^2$∼ 10$^3$s$\^$-1/) unlike macro hole fabrication and increment of relative grain size several different results are shown.

• Journal of Welding and Joining
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• v.24 no.2
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• pp.71-78
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• 2006

It has been reported that good quality weld beads are not easily obtained during the $CO_2$ CW laser welding of primer coated plate. However, by introducing a small gap clearance in the lap position, the zinc vapor can escape through it and sound weld beads can be acquired. Therefore, this study examines for keyhole behavior by observing the laser-induced plasma and investigates the relation between keyhole behavior and formation of weld defect. Laser-induced plasma has accompanied with the vaporizing pressure of zinc ejecting from keyhole to surface of primer coated plate. This dynamic behavior of plasma was very unstable and this instability was closely related to the unstable motion of keyhole during laser welding. As a result of observing the composition of porosity, much of Zn element was found from inner surface of porosity. But Zn was not found from the dimple structure fractured at the weld metal. By analyzing of vaporizing element in laser welding, a component ratio of Zn was decreased by introducing a small gap clearance. Therefore we can prove that the major cause of porosity is the vaporization of primer in lap position. Mechanism of porosity-formation is that the primer vaporized from the lap position accelerates dynamic behavior of the key hole and the bubble separated from the key hole is trapped in the solidification boundary and romaines as porosity.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.12
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• pp.1062-1070
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• 2016

The heat transfer and flow characteristics of gas turbine blade tip were investigated in this paper by using the conjugate heat transfer analysis. The rotor inlet boundary condition profile which was taken from the first stage nozzle outlet was used to analyse. The profile contained the velocity and temperature information. This study presents the influence of tip clearance about aerodynamic loss, heat transfer coefficient and film cooling effectiveness with the squealer tip designed blade model which tip clearance variation range from 1% to 2.5% of span. Results showed that the aerodynamic loss and the heat transfer coefficient were increased when the tip clearance was increased. Especially when the tip clearance was 2% of the span, the average heat transfer coefficient on the tip region was increased obviously. The film cooling effectiveness of tip region was increasing with decreasing of the tip clearance. There was high film cooling effectiveness at cavity and near tip hole region.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Proceedings of the SAREK Conference
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• 2008.06a
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• pp.1315-1320
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• 2008

An experimental study was carried out to study the solid-liquid mixture upward flow in a vertical and inclined annulus with rotating inner cylinder. Lift forces acting on a fluidized particle plays a central role in many importance applications, such as the removal of drill cuttings in horizontal drill holes, sand transport in fractured reservoirs, sediment transport and cleaning of particles from surfaces, etc. Field measurements have revealed that the pressure drop over a borehole during drilling of a slim oil well or a well with a long reach can depend significantly on the rotation speed of the drill pipe. An accurate prediction of the annular frictional pressure drop is therefore important for conditions where the annular clearance is small. Effect of annulus inclination and drill pipe rotation on the carrying capacity of drilling fluid, particle rising velocity, and pressure drop in the slim hole annulus have been measured for fully developed flows of water and of aqueous solutions.

• The KSFM Journal of Fluid Machinery
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• v.7 no.5 s.26
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• pp.36-42
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• 2004

The effect of tip clearance height on the three-dimensional flow and aerodynamic loss in the wake region of a high-turning turbine rotor cascade has been investigated with a miniature cone-type five-hole probe. Distributions of velocity magnitude, secondary velocity vectors, and total-pressure loss coefficient are presented for three tip gap-to-span ratios of h/s = 0.0, 0.5 and 1.0 percent. The result shows that with the increment of h/s, tip leakage vortex tends to be intensified and aerodynamic loss due to the leakage vortex is increased as well. In the case of h/s = 1.0 percent, aerodynamic loss in the tip-leakage flow region is found dominant in comparison with that in the passage vortex region. With increasing h/s, mass-averaged secondary loss coefficient has a greater portion in the mass-averaged total-pressure loss coefficient.