• Journal of the Korean Society for Precision Engineering
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• v.27 no.3
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.615-618
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• 2016

This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average $L_2$ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.27-30
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• 2000

In this paper, we propose a new approach to determination of environment forces acting on a rigid body. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator using functional link neural network (FLANN) is designed. It is also shown by simulation results that the precise estimation of contact force is achieved for a 2-link SCARA robot performing position/force control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1202-1208
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• 2009

An inverse finite element (FE) model parameter estimation algorithm can be used to characterize mechanical properties of biological tissues. Using this algorithm, we can consider the influence of material nonlinearity, contact mechanics, complex boundary conditions, and geometrical constraints in the modeling. In this study, biomechanical experiments on macro and micro samples are conducted and characterized with the developed algorithm. Macro scale experiments were performed to measure the force response of porcine livers against mechanical loadings using one-dimensional indentation device. The force response of the human liver cancer cells was also measured by the atomic force microscope (AFM). The mechanical behavior of porcine livers (macro) and human liver cancer cells (micro) were characterized with the algorithm via hyperelastic and linear viscoelastic models. The developed models are suitable for computing accurate reaction force on tools and deformation of biomechanical tissues.

• Journal of Electrical Engineering and Technology
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• v.8 no.6
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• pp.1415-1423
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• 2013

The traveling wave ultra-sonic motor (TWUSM) is operated through the frictional force between the rotor and the stator. Hence, the contact mechanism should be analyzed to estimate the motor performance. However, the nonlinearity of the contact mechanism of the TWUSM makes it difficult to propose a proper contact model and a characteristic analysis method. To address these problems, a novel contact model is proposed and be termed the cylindrical dynamic contact model (CDCM) in this research. An estimation method of the motor performance is proposed using the CDCM, an analytical method, and a numerical method. The feasibility and usefulness of the proposed characteristic analysis are verified through experimental data.

• Proceedings of the KWS Conference
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• 2003.11a
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• pp.207-209
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• 2003

In FE analysis for residual stress of a casting, contact force between mould and casting material and gravity force must be considered for exact simulation. Preheating of a repair weldment had a little effects on the reduction of residual stress. However, preheating with hammer peening had a great deal of effects on the reduction of residual stress. A method for estimation of fatigue life for a repair weldment has been established.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• Tribology and Lubricants
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• v.12 no.4
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• pp.13-17
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• 1996

립실의 중요 설계 변수인 접촉력의 측정에는 스플릿트축장치가 흔히 사용된다. 축과 립실의 간섭량은 두 개 스플릿트축의 간격으로서 조절된다. 두 축을 초기 위치로부터 측정하고자 하는 임의 위치로 이동시킬 때 정확한 원을 이루지 못해 측정되는 접촉력은 오차를 포함되게 된다. 본 연구에서는 작은 간섭량 범위 내에서 접촉력을 이론적으로 예측할 수 있는 수식을 유도하고 측정 오차 값을 예측하였다. 측정된 립실의 접촉력은 측정 간섭량이 초기간섭량과 일치하는 경우 외에는 항상 오차를 포함하고 있음을 밝혔다. 이 오차는 작은 간섭량 범위 내에서 립실의 재료 특성이나 형상에 무관하며, 10% 이내의 측정 오차 유지를 위해서는 측정 간섭량이 초기 간섭량의 68%에서 187% 범위 내에 들어야 함을 확인하였다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.6
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• pp.145-151
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• 2012

In this study, finite element analysis is carried out to estimate horizontal forces needed for the required power calculation and vertical forces applied on the structural analysis model for the development of automatic serrated surface at metal gasket core machining system. By considering of elasto-plastic material characteristics, nonlinear contact analysis was conducted to compute these loads according to the change of roll reduction, frictional coefficient and core thickness. As the result, horizontal and vertical reaction force variations are found according to parameters and maximum reaction force is also confirmed to be most affected by roll reduction.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.