• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.454-461
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• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.

• Geomechanics and Engineering
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• 제18권1호
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• pp.21-27
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• 2019

Rockburst disasters pose serious threat to mining safety and underground excavation, especially in China, resulting in massive life-wealth loss and even compulsive closed-down of some coal mines. To investigate the mechanism of rockbursts that occur under a state of static forces, a stress model with sidewall as prototype was developed and verified by a group of laboratory experiments and numerical simulations. In this model, roadway sidewall was simplified as a square plate with axial compression and end (horizontal) restraints. The stress field was solved via the Airy stress function. To track the "closeness degree" of the stress state approaching the yield limit, an unbalanced force F was defined based on the Mohr-Coulomb yield criterion. The distribution of the unbalanced force in the plane model indicated that only the friction angle above a critical value could cause the first failure on the coal in the deeper of the sidewall, inducing the occurrence of rockbursts. The laboratory tests reproduced the rockburst process, which was similar to the prediction from the theoretical model, numerical simulation and some disaster scenes.

• 한국정밀공학회지
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• 제16권8호
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• pp.38-45
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• 1999

The 2-trowel type concrete floor finishing robot can move in any direction by adjusting the posture or trowels without any wheels. Since the quality of the smoothed and polished concrete floor is determined by plastering speed, we need to control the velocity of the robot. However, we cannot use the typical motion control method because it is very difficult to measure the velocity of the robot, in contrast to the mobile robots with wheels. To overcome this difficulty, the following are studied in this paper: we found that the robot dynamics has the disturbance depending on its translational speed, and showed that there exists the saturated velocity of the robot which is set by the posture of the trowels, and obtained the relationship between the saturated velocity and the posture in the translation. The result enables us to control the motion of the robot only by adjusting the posture of trowels without measuring the velocity of the robot. Currently, we built the troweling robot and are experimenting its performance with the proposed motion control method.

• 대한기계학회논문집A
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• 제39권1호
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• pp.45-53
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• 2015

세탁기의 용량이 커지면서 세탁 및 탈수 시의 세탁물에 의한 질량 불균형 문제가 심해지고 있으며, 이러한 문제를 해결하기 위하여 세탁기에서도 다양한 형태의 서스펜션이 장착되고 있다. 본 연구에서는 마찰 서스펜션에서 발생하는 힘을 측정한 뒤, 물리적인 수식으로 마찰 서스펜션의 비선형 특성을 모델링 하였다. 최소 자승 해(least squares solution)를 구해 파라미터들을 추정하고, 시험과 동일한 조건의 시뮬레이션을 실시하여 개발된 마찰 서스펜션 모델링의 타당성을 검증하였다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 하계학술대회 논문집 Vol.9
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• pp.366-366
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• 2008

Amorphous carbon (a-C) is an interesting materials and its characteristics can be varied by tuning it $sp^3$ fractions. The $sp^3$ fraction in a-C films depends on the kinetic energy of the deposited carbon ions. In this work, a-C films was synthesized on Si(100) and glass substrates at room temperature by closed-field unbalanced magnetron (CFUBM) sputtering with the increase of graphite target power density. The structural and physical properties of films were investigated by using Raman spectroscopy, X-ray photoelectron spectrometer (XPS), nano- indentation, atomic force microscope (AFM) and contact-angle measurement. We obtained the good tribological properties, such as high hardness up to 26 GPa., friction coefficient lower than 0.1 and the smooth surface (rms roughness: 0.12 nm). The increase of the physical properties with the increase of target power density are related to the increase of nano-clusters in the carbon network. Also, these results might be due to the increase of the subplantation and resputtering by the increase of ions density in the plasma.

• 대한금속재료학회지
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• 제50권11호
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• pp.801-808
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• 2012

TiAlCN coatings with various C contents were synthesized by unbalanced magnetron sputtering. The characteristics, the crystalline structure, surface morphology, hardness, and friction coefficient of the coatings as a function of the C content were investigated by X-ray diffraction (XRD), atomic force microscopy (AFM), a microhardness tester, and a wear test. In addition, their corrosion behaviors in a deaerated 3.5 wt% NaCl solution at $40^{\circ}C$ were investigated by potentiodynamic polarization tests. The results indicated that the $Ti_{14.9}Al_{15.5}C_{30.7}N_{38.9}$ coating had the highest hardness, elastic modulus, and a plastic deformation resistance of 39 GPa, 359 GPa, and 0.55, respectively, and it also had the lowest friction coefficient of approximately 0.26. Comparative evaluation of the TiAlCN coatings indicated that a wide range of coating properties, especially coating hardness, could be obtained by the synthesis methods and processing variables. The microhardness of the coatings was much higher than that from previously reported coating using similar magnetron sputtering processes. It was almost as high as the microhardness measured from the TiAlCN coatings (~41 GPa) synthesized using an arc ion plating process. The potentiodynamic test showed that the corrosion resistance of the TiAlCN coatings was significantly better than the TiAlN coatings, and their corrosion current density ($i_{corr}$), corrosion potentials ($E_{corr}$) and corrosion rate decreased with an increasing C content in the coatings. The much denser microstructure of the coatings due to the increased amount of amorphous phase with increasing C contents in the coatings could result in the the improved corrosion resistance of the coatings.