• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.30-32
• /
• 2005

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy.

• 동력기계공학회지
• /
• 제11권3호
• /
• pp.16-21
• /
• 2007

Three dimensional numerical study was carried out to investigate the effect of aspect ratio on microchannel flow. We considered five straight rectangular channels with aspect ratios (height/width) 0.2, 0.4, 0.6, 0.8 and 1.0. Nitrogen gas flow was investigated for both slip and noslip wall boundary conditions. Isothermal wall condition was assumed. We used control volume method for this simulation. The slip velocity increases with the increase of aspect ratio. Friction coefficient decreases with the increase of aspect ratio. Slip friction coefficient is lower than noslip friction coefficient. Mass flow rate of slip model is higher than that of noslip model. We compared our results with the experimental result reported in the literature. The agreement was good.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1542-1547
• /
• 2003

Air entrainment can become a significant problem in a web handling process. The development of air film between a web and an idle roller can cause a reduction of traction and traction coefficient, by which a slip is occurrred. Computational and experimental study was carried out to describe the slippage of an idle roller for given operating conditions, tension and web velocity. An extended mathematical model to find out a slip condition was developed by using the models of air film height, dynamic traction coefficient, and torque balance of a rotational roller. And by using the extended model, a mechanism to define the slippage between the roller and the moving web was suggested. The results of simulation and experiment showed that the extended dynamic model could properly characterize the rotational motion of the idle roller by considering dynamic traction coefficient. By examining the rotational motion of the idle roller with web dynamics(speed), the mechanism to define al slip condition between the roller and the web was found to be effective.

• Computers and Concrete
• /
• 제30권5호
• /
• pp.369-375
• /
• 2022

Current exertion reports the numerical analysis of boundary layer slip flow of Casson Nano fluid along a permeable cylinder that is stretching in exponential manner. The modeled PDEs are changed into nonlinear ODEs through appropriate nonlinear transformations. Numerical results are attained using a renowned numerical scheme shooting method with Runge-Kutta procedure of 6^th-order. Influential role of relevant parameters like Reynolds, suction, Casson fluid and slip parameters on velocity profile is investigated. The effect of influence of slip parameter γ on temperature profile is seen through graph. To ensure the authenticity of numerical procedure, outcomes of some special cases of present work are compared with published work and strong agreement is noticed.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집C
• /
• pp.293-298
• /
• 2001

In this paper, film thickness and temperature distribution are measured in EHL point contact at high roll/slip ratios. Infrared temperature mapping with two band pass filters, proposed by Ausherman (1976), is used to measure temperature distribution. And the optical interferometric method with two filters (red and green filters) is used to measure film thickness. Result of experiment showed that temperature rising at film and ball surface occurred very dramatically in Dimple zone. As slip velocity, roll/slip ratio and load increased, size of Dimple and temperature rising became more large. In addition, position and shape of Dimple were changed by roll/slip ratios, and increasing of Dimple size decreased traction coefficient. In short, it is appointed that the Dimple phenomenon be developed by the effect of viscosity wedge.

• 한국지진공학회논문집
• /
• 제24권6호
• /
• pp.253-266
• /
• 2020

The extended slip-weakening model was investigated by using a compiled set of source-spectrum-related parameters, i.e. seismic moment M_o, S-wave velocity V_s, corner-frequency f_c, and source-controlled high-cut frequency fmax, for 113 shallow crustal earthquakes (focal depth less than 25 km, M_W 3.0~7.5) that occurred in Japan from 1987 to 2016. The investigation was focused on the characteristics of stress drop, radiation energy-to-seismic moment ratio, radiation efficiency, and fracture energy release rate, G_c. The scaling relationships of those source parameters were also investigated and compared with those in previous studies, which were based on generally used singular models with the dimensionless numbers corresponding to f_c given by Brune and Madariaga. The results showed that the stress drop from the singular model with Madariaga's dimensionless number was equivalent to the breakdown stress drop, as well as Brune's effective stress, rather than to static stress drop as has been usually assumed. The scale dependence of stress drop showed a different tendency in accordance with the size category of the earthquakes, which may be divided into small-moderate earthquakes and moderate-large earthquakes by comparing to M_o = 10¹⁷~10¹⁸ Nm. The scale dependence was quite similar to that shown by Kanamori and Rivera. The scale dependence was not because of a poor dynamic range of recorded signals or missing data as asserted by Ide and Beroza, but rather it was because of the scale dependent V_r-induced local similarity of spectrum as shown in a previous study by the authors. The energy release rate G_c with respect to breakdown distance D_c from the extended slip-weakening model coincided with that given by Ellsworth and Beroza in a study on the rupture nucleation phase; and the empirical relationship given by Abercrombie and Rice can represent the results from the extended slip-weakening model, the results from laboratory stick-slip experiments by Ohnaka, and the results given by Ellsworth and Beroza simultaneously. Also the energy flux into the breakdown zone was well correlated with the breakdown stress drop, ${\tilde{e}}$ and peak slip velocity of the fault faces. Consequently, the investigation results indicate the appropriateness of the extended slip-weakening model.

• 한국안전학회지
• /
• 제28권5호
• /
• pp.54-60
• /
• 2013

In this study, a finite element model based on the SU/PG scheme was developed to solve shallow-water equations and the influences of parameters and internal boundary conditions on depth-averaged flow behavior were investigated. To analyze the effect of roughness coefficient and eddy viscosity on flow characteristics, the developed model was applied to rectangular meandering channel with two bends, and transverse velocities and water depth distributions were examined. As the roughness coefficient adjacent to wall increased, the velocities near the wall decreased, and the reduced velocities were compensated by the expanding mid-channel velocities. In addition, the flow characteristics around a circular cylinder were analyzed by varying the internal boundary conditions as free slip and no slip. The assignment of slip condition changed the velocity distribution on the cylinder surface and reduced the magnitude of the shear stress up to one third.

• 한국정밀공학회지
• /
• 제18권3호
• /
• pp.99-106
• /
• 2001

Model trains should have very similar motion characteristics to real trains in order to provide realistic feeling to their operators. Main purpose of dynamic analysis of model trains is to predict velocities in straight and circular tracks and estimate stopping distance after power shut off. Equations of motion for a model train are derived that relates velocity, traction, rolling resistance, and pulling force. Also, energy equations for calculating stopping distance after power shut off are derived. Experiments with model trains are preformed to measure velocity, rolling resistance, slip, and stopping distance. The results are compared with the prediction based on the equations of motion, and they showed good agreement. It can be concluded that the prediction is more accurate when the slip between wheel and rail is accounted for. The analysis procedures can be applied to determining various design factors in model trains.

• 제어로봇시스템학회논문지
• /
• 제15권2호
• /
• pp.184-191
• /
• 2009

The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

• 한국자동차공학회논문집
• /
• 제10권6호
• /
• pp.234-240
• /
• 2002

This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard anti-lock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased.