This research presents a control structure for an omni-wheel mobile robot (OWMR). The control structure includes the path planning module and the motion control module. In order to secure the robustness and fast control performance required in the operating environment of OWMR, a bio-inspired control method, brain limbic system (BLS)-based control, was applied. Based on the derived OWMR kinematic model, a motion controller was designed. Additionally, an optimal path planning module is suggested by combining the advantages of A* algorithm and the fuzzy analytic hierarchy process (FAHP). In order to verify the performance of the proposed motion control strategy and path planning algorithm, numerical simulations were conducted. Through a point-to-point movement task, circular path tracking task, and randomly moving target tracking task, it was confirmed that the suggesting motion controller is superior to the existing controllers, such as PID. In addition, A*–FAHP was applied to the OWMR to verify the performance of the proposed path planning algorithm, and it was simulated based on the static warehouse environment, dynamic warehouse environment, and autonomous ballet parking scenarios. The simulation results demonstrated that the proposed algorithm generates the optimal path in a short time without collision with stop and moving obstacles.

This paper presents the change of non-dimensional characteristics and thermal behavior of different sized tilting pad journal bearings (TPJBs) with the same Sommerfeld number. A three-dimensional (3D) TPJB numerical model is provided considering the thermo-elastic hydro-dynamic (TEHD) lubrication model with pad thermal-elastic deformation. The pivot stiffness is assumed to be the combination of linear and cubic stiffness based on the Hertzian contact theory. The TPJBs in a configuration of load between pad (LBP) with the same Sommerfeld number having seven different sizes are simulated, and their non-dimensional dynamic and static characteristics and thermal behavior are compared. Pad thermal and elastic deformation are both taken into account. If the changes in lubricant viscosity, thermal deformation, and elastic deformation of journal/pads due to viscous shearing are ignored, the bearings with identical Sommerfeld numbers should show the same performance characteristics. However, the heat generation at the bearing clearance during operation (a) induces a decrease in viscosity and heat transfer to journal/pads and (b) results in a thermal deformation. Furthermore, the elastic deformation of the tilting pads and pivots also affects the bearing dynamic performance. For the same Sommerfeld number, the numerical analyses provide how the viscous shearing and elastic deformation lead to a change in bearing performance. For the small bearings with the same Sommerfeld number, the non-dimensional characteristics did not change significantly, where the heat generation was small being compared to the large sized bearing. The largest change in non-dimensional characteristics occurred when the maximum temperature of the oil film increased by 30 °C or more compared to the lubricant supply temperature. The root cause of the change in the non-dimensional characteristics is the viscous shearing in the oil film, and the thermal deformation of the structures surrounding the oil film acts in combination. These results provide insight into the Sommerfeld number, which can be used for the early stage of bearing design.

This paper investigates the journal asymmetric temperature-induced thermal bow vibration of a rotor, as supported by a flexure pivot journal bearing (FPJB). Thermal bow-induced vibration, known as the Morton effect (ME), is caused by non-uniform viscous heating of the journal, and the resulting thermal bow often causes increasing vibration amplitudes with the time-varying phase. Full FPJB’s structural and thermal finite element models are developed and integrated into the flexible rotor model. The model is validated by comparing its predicted ME response with experimental results. An FPJB model, which uses predicted “equivalent” radial and tilting stiffness of the bearing, is compared with the full finite element method (FEM)-based model. The impact of FPJB’s design parameters such as web thickness, bearing material, and housing thicknesses are investigated with parametric studies. The results show that FPJB parameter values may have a major effect on the speed range of ME vibration, and its severity.

For an engineering feasibility study, we studied a simple design to improve NCSS (nanocarbon composite strain sensor) sensitivity by using its geometric pattern at a macro scale. We fabricated bulk- and grid-type sensors with different filler content weights (wt.%) and different sensor lengths and investigated their sensitivity characteristics. We also proposed a unit gauge factor model of NCSS to find a correlation between sensor length and its sensitivity. NCSS sensitivity was improved proportional to its length incremental ratio and we were able to achieve better linear and consistent data from the grid type than the bulk type one. We conclude that the longer sensor length results in a larger change of resistance due to its piezoresistive unit summation and that sensor geometric pattern design is one of the important issues for axial load and deformation measurement.

In this study, a three-dimensional thermo-elastic model that considers the interaction of mechanical and thermal deformation is developed using a semi-analytic method for steady-state rolling contact. Creepage types in all directions are considered in this model. For verification, the numerical analysis results of shear traction and temperature increase are compared separately with existing numerical results, and the consistency is confirmed. The analysis results include heat flux, temperature increase, contact pressure, and shear traction. Under severe rolling conditions, the thermal effect changes the behavior of the contact interface significantly. Furthermore, the effects of creepage, rolling speed, and conformity under different rolling and creep conditions are investigated.

This paper presents a new approach for modeling flexure-pivot journal bearings (FPJB) employing a three-dimensional (3D) elasto-hydro-dynamic (EHD) lubrication model. The finite element (FE) method is adopted for an analysis of the (1) pad-pivot dynamic behavior and the (2) fluid force. The isoviscosity Reynolds equation is utilized to calculate the fluid force acting on a flexure-pivot pad bearing and spinning journal. Computational efficiency is achieved utilizing modal coordinate transformation for the flexible pad-pivot dynamic analysis. Fluid film thickness plays a critical role in the solution of Reynolds equation and is evaluated on a node-by-node basis accounting for the pad and web deflections. The increased fidelity of the novel modeling approach provides rotating machinery designers with a more effective tool to analyze and predict rotor–bearing dynamic behavior.