• Title/Summary/Keyword: Control Force Ratio

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Kinestatic Control using a Compliant Device by Fuzzy Logic (퍼지 논리에 의한 순응기구의 위치/힘 동시제어)

  • Seo, Jeong-Wook;Choi, Yong-Je
    • Proceedings of the KSME Conference
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    • 2004.04a
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    • pp.917-922
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    • 2004
  • As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

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Development of Improved Semi-Active Damper Using EMRF (EMRF를 이용한 개선된 Semi-Active Damper 개발)

  • Jeon, Seung gon
    • Journal of the Earthquake Engineering Society of Korea
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    • v.26 no.4
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    • pp.149-156
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    • 2022
  • Magneto-Rheological Fluid (MRF) is a functional fluid in which flow characteristics change into magnetic force due to its magnetic particles. When the semi-active control device does not use MRF for a long time, precipitation of magnetic particles and abnormal control force occur. Thus, Electro Magneto-Rheological Fluid (EMRF), which improves the precipitation of magnetic particles for MRF and exhibits existing control performance, was developed in this study. First, the optimal mix proportion ratio was selected by conducting a precipitation experiment and a controlled force test by varying the content of grease based on the existing MRF components. Also, EMRF was applied to the shear-type damper to evaluate the control performance when applied to the control device. The cylinder-type damper was developed to apply to the structure, and control performance evaluation was conducted. The result confirmed that the precipitation of the magnetic particles was improved, while the damper using EMRF exhibited excellent control performance.

MANDIBULAR DISTRACTION OSTEOGENESIS WITH COMPRESSION FORCE - BONE DENSITY, HISTOLOGICAL FINDINGS AND TMJ RESPONSE (압축력을 병용한 하악골 신장술)

  • Hwang, Young-Seob;Heo, June;Kim, Uk-Kyu;Park, Seong-Jin;Hwang, Dae-Seok;Kim, Yong-Deok;Chung, In-Kyo;Kim, Kyu-Cheon
    • Maxillofacial Plastic and Reconstructive Surgery
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    • v.28 no.6
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    • pp.531-548
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    • 2006
  • The purpose of this study was to investigate the biomechanical, histologic findings of distracted regenerate and TMJ response in modified distraction osteogenesis (DO) technique combined with compression force as biomechanical stimulation method which has been suggested in 2002, and developed thereafter by authors. This study was performed with two experiments. First experiment was designed to explore the optimal ratio of compression force versus distraction force for the new DO technique. Second experiment was planned to evaluate the reaction of TMJ tissue, especially condyle, disc after application of the DO technique with compression force. Total 52 New Zealand adult male-rabbits with 3.0kg body weight were used for the study. For the first study, 30 adult male-rabbits underwent osteotomy at one side of mandibular body and a external distraction device was applied on each rabbit with same manner. In the control group of 10 rabbits, final 8 mm of distraction with 1 mm rate per day was done with conventional DO technique after 5 latency days. For the experimental group of 20 rabbits, a compression force with 1 mm rate per day was added to the distracted mandible on 3-latency day after over-distraction (over-lengthening). As the amount of the rate of compression versus distraction, experimental subgroup I (10 rabbits) was set up as 2 mm compression versus 10 mm distraction (1/5) and experimental subgroup II (10 rabbits) was set up as 3 mm compression versus 11 mm distraction (about 1/3). All 30 rabbits were set up to obtain final 8 mm distraction and sacrificed on postoperative 55 day to analysis on biomechanical, and histologic findings of the bone regenerates. For second study, 22 adult male-rabbits were used to evaluate TMJ response after the DO method application with compression force. In the control group, 10 rabbits was used to be performed with conventional DO method, on the other hand, in a experimental group of 10 rabbits, 10 mm distraction with 2 mm compression (1/5 ratio) was done. The remaining 2 rabbits served as the normal control group. Histomorphologic examinations on both condyle, histological studies on condyle, disc were done at 1, 2, 3, 4, 7 weeks after distraction force application. The results were as follows: 1. On the bone density findings, the experimental group II (force ratio - 1/3) showed higher bone density than the other experimental group (force ratio - 1/5) and control group (control group - $0,2906\;g/cm^2$, experimental group I - $0.2961\;g/cm^2$, experimental group II - $0.3328\;g/cm^2$). 2. In the histologic findings, more rapid bone maturation like as wide lamellar bone site, more trabeculae formation was observed in two experimental groups compared to the conventional DO control group. 3. In morphologic findings of condyle, there were no differences of size and architecture in the condyle in the control and experimental groups. 4. In histologic findings of condyles, there were thicker fiberous and proliferative layers in experimental group than those of control group until 2 weeks after distraction with compression force. But, no differences were seen between two groups on 3, 4, 7 weeks after compression. 5. In histologic findings of disc, more collagen contents in extracellular matrix, more regular fiber bundles, and less elastin fibers were seen in experimental group than control group until 2 weeks after distraction with compression. But, no differences were seen between two groups on 3, 4, 7 weeks after distraction with compression. From this study, we could identify that the new distraction osteogenesis technique with compression stimulation might improve the quality of bone regeneration. The no remarkable differences on TMJ response between control and experimental groups were seen and TMJ tissues were recovered similarly to normal TMJ condition after 3 weeks.

Seismic Response of Arch Structure with Base Isolation Device Depending on Installation Angle (면진장치 설치각도에 따른 아치구조물의 지진응답)

  • Kim, Gee-Cheol;Lee, Joon-Ho
    • Journal of Korean Association for Spatial Structures
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    • v.22 no.1
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    • pp.25-32
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    • 2022
  • The seismic behaviors of the arch structure vary according to the rise-span ratio of the arch structure. In this study, the rise-span ratio (H/L) of the example arch structure was set to 1/4, 1/6, and 1/8. And the installation angle of the seismic isolator was set to 15°, 30°, 45°, 60° and 90°. The installation angles of the seismic isolator were set by analyzing the horizontal and vertical reaction forces according to the rise-span ratio of the arch structure. Due to the geometrical and dynamic characteristics of the arch structure, the lower the rise-span ratio, the greater the horizontal reaction force of the static load, but the smaller the horizontal reaction force of the dynamic load. And if the seismic isolator is installed in the direction of the resultant force of the reaction forces caused by the seismic load, the horizontal seismic response becomes small. Also, as the installation angle of the seismic isolator increases, the hysteresis behavior of the seismic isolator shows a plastic behavior, and residual deformation appears even after the seismic load is removed. In the design of seismic isolators for seismic response control of large space structures such as arch structures, horizontal and vertical reaction forces should be considered.

Semi-active friction dampers for seismic control of structures

  • Kori, Jagadish G.;Jangid, R.S.
    • Smart Structures and Systems
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    • v.4 no.4
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    • pp.493-515
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    • 2008
  • Semi-active control systems have attracted a great deal of attention in recent years because these systems can operate on battery power alone, proving advantageous during seismic events when the main power source of the structure may likely fail. The behavior of semi-active devices is often highly non-linear and requires suitable and efficient control algorithm. This paper presents the comparative study and performance of variable semi-active friction dampers by using recently proposed predictive control law with direct output feedback. In this control law, the variable slip force of semi-active variable friction damper is kept slightly lower than the critical friction force, which allows the damper to remain in the slip state during an earthquake, resulting in improved energy dissipation capability. This control algorithm is able to produce a continuous and smooth slip forces for a variable friction damper. The numerical examples include a structure controlled with multiple variable semi-active friction dampers and with multiple passive friction dampers. A parameter, gain multiplier defined as the ratio of damper force to critical damper control force, is investigated under four different real earthquake ground motions, which plays an important role in the present control algorithm of the damper. The numerically evaluated optimum parametric value is considered for the analysis of the structure with dampers. The numerical results of the variable friction dampers show better performance over the passive dampers in reducing the seismic response of structures.

Analysis of a Parallel 3 Degree-of-Freedom Spherical Module and its Implementation as a Force Reflecting Manual Controller (병렬형 3자유도 구형 모듈의 해석과 힘반영 원격조종기로의 구현)

  • 김희국;이병주
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.18 no.10
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    • pp.2501-2513
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    • 1994
  • In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

Response Reduction of a SDOF Structure based on Friction Force Ratio of MR Controller (MR제어기의 마찰력비에 따른 단자유도 구조물의 응답감소)

  • Seong, Ji-Young;Min, Kyung-Won
    • Journal of the Computational Structural Engineering Institute of Korea
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    • v.23 no.4
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    • pp.435-443
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    • 2010
  • This study presents key parameters for the structure installed with MR controller in reducing its responses. MR controller is regarded as Bingham model of which control forces are frictional and viscous ones. The parameters are identified as friction force ratios, $R_f$ and $R_h$ which are, respectively, ratio of MR controller friction force to static restoring force for free vibration and ratio of the friction force to amplitude of harmonic force. Structure-MR controller system shows nonlinear response behavior due to friction force. Energy balance strategy is adopted to transform the behavior to linear one with equivalent damping ratio. Finally, proposed equivalent linear process is compared to the nonlinear one, which turns out to give acceptably good results.

Robust Design of an ER Damper using Taguchi Method (다구찌법을 이용한 ER 댐퍼의 강건 설계)

  • 윤영민;배광식;김재환;최승복
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2003.05a
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    • pp.157-162
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    • 2003
  • This Paper presents a robust design of an Electrorheological(ER) damper using Taguchi method. Taguchi method is a robust design method that determines control parameters in the presence of noise effect. Electrode length, electrode gap, base oil viscosity and the weight ratio of ER particles are chosen for the control parameters and the temperature is considered to be a noise factor. The sensitivity of each factor with signal-to-noise(S/N) ratio and analysis of variance are investigated. The analysis results show that the electrode length and base oil viscosity of the ER fluid mostly affect the damping force in the absence of electric field. On the other hand, when the voltage is applied to the ER damper, the electrode length and the weight ratio of ER fluid exhibit significant effect. Based on the Taguchi method, an optimal configuration was designed and the robustness of the designed ER damper was validated by comparing the analysis and experimental results.

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Antilock Brake System 유압 조절기의 슬립율 제어 특성에 관한 연구

  • 김진한;김수태;심재진;최성대
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1992.10a
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    • pp.177-181
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    • 1992
  • For this study, a new hydraulic control unit which designed in compact compared to the currently manufactured hydraulic control unit for ABS has been introduced and its experimental model has been made. Based on the basic principle as ABS using braking force characteristics against slip ratio of tire, half car model bench tester were designed and made to make an analysis of braking effect of the new hydraulic control unit. Experiment for slip ratio characteristics of tire has been carried out using half car model bench tester and with the results of this experiment and control experiment of the new hyraulic control unit, the experiment result of the characteristics of tire and control experiment were compared to find out their correspondence. And furthermore, slip ratio characteristics of the new hydraulic control unit has been studied based on the experiment result of slip ratio characteristics of tire through simulation and compared with experiment result.

HISTOLOGIC COMPARATIVE STUDY ON THE BONE-IMPLANT INTERFACE OF HYDROXYLAPATITE AND TITANIUM PLASMA SPRAY COATED IMPLANTS (Hydroxylapatite 및 Titanium Plasma Spray 피복임프란트와 골조직 계면의 조직학적 비교 연구)

  • Cho, Ju-Oh;Song, Kwang-Yeob;Park, Charm-Woon
    • The Journal of Korean Academy of Prosthodontics
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    • v.33 no.3
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    • pp.492-516
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    • 1995
  • This study evaluated the responses of mandibular bones of mongrel dogs to loaded hydro xylapatite(HA) and titanium plasma spray(TPS) coated endosseous dental implants, using unloaded ones as the control group. after HA and TPS coated implants were implanted, their bone reactions with vital bones have been observed with light and scanning electron microscope(SEM) at the three periods of the 4th, 12th and 20th week. These reactions have been also compared in a histomorphometric method. The elemental distribution state of implants and the interface neighboring bone tissues have been measured with the energy dispersive analysis of X-rays(EDAX). The following results were obtained ; 1. The light microscopic analysis showed osseointegration in both the control group and the occlusal force loaded group ; Its degree was shown to be higher in the long-maintained and occlusal force groups. 2. The SEM analysis showed that both groups had osseointegration, In the case of TPS-coated implants, the coated layer was divided on the bone interface. In the case of HA-coated implants, there appeared a division between the metal and coated interface. 3. In the histomorphometric analysis, the measured ratio contaction bone of TPS-coated implants was $70{\pm}19$% in the case of no occlusal force ; it was $84{\pm}13$% in the case of occlusal force. The measured ratio contacting bone of HA-coated implants was $75{\pm}18$% in the case of no occlusal force ; it was $94{\pm}9$% in the case of occlusal force. However, there was no significant difference statistically(p>0.05). 4. Both groups showed that the ratio of calcium and phosphorous increased more in the bone tissues than on the bone to implant interface.

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