• Korean Journal of Applied Biomechanics
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• v.30 no.2
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• pp.131-144
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• 2020

Objective: The purpose of this study was to examine the effect of degrees of freedom on the multi-synergies in two hierarchies of human hand system during force production and releasing tasks. Method: In this study, the constrained movements of the aiming and releasing actions using both hands and fingers during archery-like shooting were implemented as experimental tasks. The participants produced a pulling force holding the customized frame (mimicking an archery bow, with a set of force transducers) and kept it consistently for about 5 seconds, and released fingers as quickly as possible in a self-paced manner within the next 5 seconds. An analytical method based on the uncontrolled manifold hypothesis was used to quantify the stability index (synergy index) in two hierarchies including two hands (upper hierarchy) and individual fingers (lower hierarchy). Results: The results confirmed that the positive synergy pattern showed simultaneously at the upper and lower hierarchies, and the kinetic degrees of freedom were associated with the increment of hierarchical synergy indices and the performance indices. Also, the synergy indices of both hierarchies showed significant positive correlations with the performance accuracy during the task. Conclusion: The results of this study suggest that the human control system actively uses extra degrees of freedom to stabilize task performance variables. Further increasing the degree of freedom at one level of hierarchy induces positive interactions across hierarchical control levels, which in turn positively affects the accuracy and precision of task performance.

• Ocean Systems Engineering
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• v.7 no.3
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• pp.179-193
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• 2017

Dynamic response analysis of offshore triceratops with stiffened buoyant legs under impact and non-impact waves is presented. Triceratops is relatively new-generation complaint platform being explored in the recent past for its suitability in ultra-deep waters. Buoyant legs support the deck through ball joints, which partially isolate the deck by not transferring rotation from legs to the deck. Buoyant legs are interconnected using equally spaced stiffeners, inducing more integral action in dispersing the encountered wave loads. Two typical nonlinear waves under very high sea state are used to simulate impact and non-impact waves. Parameters of JONSWAP spectrum are chosen to produce waves with high vertical and horizontal asymmetries. Impact waves are simulated by steep, front asymmetric waves while non-impact waves are simulated using Stokes nonlinear irregular waves. Based on the numerical analyses presented, it is seen that the platform experiences both steady state (springing) and transient response (ringing) of high amplitudes. Response of the deck shows significant reduction in rotational degrees-of-freedom due to isolation offered by ball joints. Weak-asymmetric waves, resulting in non-impact waves cause steady state response. Beat phenomenon is noticed in almost all degrees-of-freedom but values in sway, roll and yaw are considerably low as angle of incidence is zero degrees. Impact waves cause response in higher frequencies; bursting nature of pitch response is a clear manifestation of the effect of impact waves on buoyant legs. Non-impact waves cause response similar to that of a beating phenomenon in all active degrees-of-freedom, which otherwise would not be present under normal loading. Power spectral density plots show energy content of response for a wide bandwidth of frequencies, indicating an alarming behaviour apart from being highly nonlinear. Heave, being one of the stiff degrees-of-freedom is triggered under non-impact waves, which resulted in tether tension variation under non-impact waves as well. Reduced deck response aids functional requirements of triceratops even under impact and non-impact waves. Stiffened group of buoyant legs enable a monolithic behaviour, enhancing stiffness in vertical plane.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.1
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• pp.56-61
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• 2011

Many control techniques have been proposed in order to improve the control performance of the control system. The degree of freedom on control in the control system is decided by the number of the closed-loop transfer function which can adjust independently. The controller design scheme with two degrees of freedom(TDOF) is extensively used for securing the good control performance to trace a desired value and reject disturbance. In this paper, PID controller is used by controller with TDOF and the design method for control system with TDOF is proposed by the normal method. Using the coefficients of the transfer function of the plant, the transfer function of the control system is normalized by the proposed design method and the parameters of the controller are determined. The control system with the TDOF is constructed by using this method. Through the simulation results, the usefulness of the proposed algorithm is proved.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.1
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• pp.74-79
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• 2010

Many control techniques have been purposed in order to improve the control performances of the control system. The freedom on control in the control system is decided by the number of the closed-loop transfer function which can adjust independently. The design method of the controller with two degrees of freedom(TDOF) is used extensively for following the desired value and rejecting the disturbance. In this paper, the control system with the disturbance observer(DOB) for rejecting the disturbance is transformed by the control system with TDOF and the rejection of a transient response is easy at the starting time and load variation. The design method of the DOB is proposed in the frequency-domain and the control system with TDOF is constructed by using the DOB which is designed with this method. Through the simulation results, the usefulness of the proposed algorithm is proved.

• Ocean Systems Engineering
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• v.9 no.3
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• pp.219-240
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• 2019

This paper presents the comparison between SFT response with linear and nonlinear cables. The dynamic response analysis of submerged floating tunnel (SFT) is presented computationally with linear and nonlinear tension legs cables. The analysis is performed computationally for two wave directions one at 90 degrees (perpendicular) to tunnel and other at 45 degrees to the tunnel. The tension legs or cables are assumed as linear and non- linear and the analysis is also performed by assuming one tension leg or cable is failed. The Response Amplitude Operators (RAO's) are computed for first order waves, second order waves for both failure and non-failure case of cables. For first order waves- the SFT response is higher for sway and heave degree of freedom with nonlinear cables as compared with linear cables. For second order waves the SFT response in sway degree of freedom is bit higher response with linear cables as compared with nonlinear cables and the SFT in heave degree of freedom has higher response at low time periods with nonlinear cables as compared with linear cables. For irregular waves the power spectral densities (PSD's) has been computed for sway and heave degrees of freedom, at $45^0$ wave direction PSD's are higher with linear cables as compared with nonlinear cables and at $90^0$ wave direction the PSD's are higher with non-linear cables. The mooring force responses are also computed in y and z directions for linear and nonlinear cables.

• Smart Structures and Systems
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• v.5 no.3
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• pp.279-290
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• 2009

Two degrees of freedom resonant systems are employed to improve the resonant property of resonant sensor, as compared to a single degree of freedom resonant system. This paper presents design, development and testing of two degrees of freedom resonant sensor. To measure absolute mass, cantilever shaped two different masses (smaller/absorber mass and bigger/drive mass) with identical resonant frequency are mechanically linked to form 2 - Degree-of-Freedom (DOF) resonator which exhibits higher amplitude of displacement at the smaller mass. The same concept is extended for measuring differential quantity, by having two bigger mass and one smaller mass. The main features of this work are the 3 - DOF resonator for differential detection and the microcontroller based closed loop electronics for resonant sensor with piezoelectric sensing and excitation. The advantage of using microcontroller is that the method can be easily extended for any range of measurand.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1611-1616
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• 1991

A high power stewart platform is designed and manufactured to simulate the 6 degrees of freedom motion of moving vehicle. This paper describes the design of such a motion system including kinematic and kinetic analysis, real time servo control mechanical and hydraulic system configuration, and techniques of regeneration of test records. Discussions are also presented for an algorithm called remote parameter control, which has been developed to compensate the dynamic delay of the electro-hydraulic servo actuators and the nonlinearities of stewart platform.

• Proceedings of the KSR Conference
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• 1999.05a
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• pp.428-433
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• 1999

In this study, new finite clement formulations are carried out to analyze the distortion of the curved steel box girders which are susceptible to the torsional loading. For the exact analysis of curved box girders, additional degrees of freedom are added besides the conventional 6 degrees of freedom of general-purpose finite analysis programs, which are torsional warping, distortional warring, and distortion. New formulations were coded into a computer programs. Several numerical examples were presented to demonstrate the validity of developed program.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.9-16
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• 1995

A new three-dimensional transition solid element with drilling degrees of freedom is presented. The proposed transition element is established by adding variable nodes to a basic 8-node element for an effective connection between the refined region and the coarse. The derivation of the element in this paper is based on the variational principles in which the drilling rotations are introduced as independent variables. This element was also improved through the addition of modified non-conforming modes. Numerical examples show that performance of the element and the applicability to 3D adaptations are satisfactory.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.53 no.4
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• pp.201-204
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• 2004

In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.