• 한국산업융합학회 논문집
• /
• 제19권1호
• /
• pp.18-30
• /
• 2016

In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• 한국공작기계학회논문집
• /
• 제13권1호
• /
• pp.35-47
• /
• 2004

In this paper presents a new approach to the design and real-time implementation of fuzzy control system based-on digital signal processors(DSP:IMS320C80) in order to improve the precision and robustness for system of industrial robot(Dual-Arm with 8 joint Robot). The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The IMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller(SOFC) for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a FLC(Fuzzy Logic Controller), one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult SOFC is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed SOFC scheme is simple in structure, Int in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 춘계학술대회
• /
• pp.810-815
• /
• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• 대한인간공학회지
• /
• 제27권3호
• /
• pp.93-101
• /
• 2008

Wedged soles and rocker soles are widespread shoe designs used to prevent the disorders and reduce the pain of the lower extremity caused by arthritis or diabetic feet. In this study, the effect of a shoe with a laterally wedged sole and a rocker sole simultaneously was analyzed on the kinematics and kinetics of the ankle joint during normal walking. Eight male participants without a history of lower extremity disorders were recruited. Each participant performed twenty walking cycles for each of three walking conditions: bare foot, wearing normal shoes and wearing shoes with laterally wedged rocker soles. The differences between the three walking conditions were statistically investigated including spatio-temporal variables, angular displacements, joint moments and ground reaction forces. The results showed that the laterally wedged rocker sole decreased the sagittal variation of angular displacements as well as the frontal/sagittal average moment on the ankle joints compared to the flat sole. In addition, the rate of angular displacements and loading decreased during the heel contact phase.

• 한국정밀공학회지
• /
• 제29권7호
• /
• pp.723-729
• /
• 2012

Spring-like leg models have been employed to explain various dynamic characteristics in human walking. However, this leg stiffness model has limitations to represent complex motion of actual human gait, especially the behaviors of each lower limb joint. The purpose of this research was to determine changes of total leg stiffness and lower limb joint stiffness with gait speed in knee osteoarthritis. Joint stiffness defined as the ratio of the joint torque change to the angular displacement change. Eight subjects with knee osteoarthritis participated to this study. The subject walked on a 12 m long and 1 m wide walkway with three sets of four different randomly ordered gait speeds, ranging from their self-selected speed to maximum speed. Kinetic and kinematic data were measured using three force plates and an optical marker system, respectively. Joint torques of lower limb joints calculated by a multi-segment inverse dynamics model. Total leg and each lower limb joint had constant stiffness during single support phase. The leg and hip joint stiffness increased with gait speed. The correlation between knee joint angles and torques had significant changed by the degree of severity of knee osteoarthritis.

• 구강회복응용과학지
• /
• 제19권4호
• /
• pp.269-279
• /
• 2003

This study investigated the mechanical properties of precious metal-ceramic alloy joined by the laser-welding and the soldering compared with the parent metal. Twenty-four tensile specimens were cast in precious metal-ceramic alloy and divided into three groups of eight. All specimens in the control group(group 1) were left in the as-cast condition. Group 2 and 3 were the test specimens, which were sectioned at the center. Eight of sectioned specimens were joined by soldering with a propane-oxygen torch, and the remaining specimens were joined by laser-welding. After joining, each joint diameter was measured, and then tested to tensile failure on an Instron machine. Failure loads were recorded, and then fracture stress(ultimate tensile strength), 0.2% yield strength and % elongation calculated. These data for three groups were subjected to a one-way analysis of variance(ANOVA). Neuman-Keuls post hoc test was then used to determine any significant differences between groups. The fracture locations, fracture surfaces were examined by SEM(scanning electron microscope). The results were as follows: 1) The tensile strength and 0.2% yield strength of the soldered group($280.28{\pm}49.35MPa$, $160.24{\pm}26.67MPa$) were significantly less than both the as-cast group($410.99{\pm}13.07MPa$, $217.82{\pm}17.99MPa$) and the laser-welded group($383.56{\pm}59.08MPa$, $217.18{\pm}12.96MPa$). 2) The tensile strength and 0.2% yield strength of the laser-welded group were about each 98%, 99.7% of the as-cast group. There were no statistically significant differences in these two groups(p<0.05). 3) The percentage elongations of the soldered group($3.94{\pm}2.32%$) and the laser-welded group($5.06{\pm}1.08%$) were significantly less than the as-cast group($14.25{\pm}4.05%$) (p<0.05). 4) The fracture of the soldered specimens occurred in the solder material and many porosities were showed at the fracture site. 5) The fracture of the laser-welded specimens occurred also in the welding area, and lack of fusion and a large void was observed at the center of the fracture surface. However, the laser-welded specimens showed a ductile failure mode like the as- cast specimens. The results of this study indicated that the tensile strengths of the laser-welded joints were comparable to those of the as-cast joints and superior to those of the soldered joints.

• The Journal of Korean Physical Therapy
• /
• 제28권1호
• /
• pp.8-13
• /
• 2016

Purpose: The purpose of the present current study was to examine control of upper limb multi-joint movements with differential coordination stability. To achieve the goals of the study, torque analyses were utilized to answer questions about how torque components were differed among various elbow-wrist coordination patterns. Methods: Eight self-reported right-handed college students (3 males and 5 females, mean age=20.6 yr) were volunteered. The task required participants to rhythmically coordinate the flexion-extension motions of their elbow and wrist with coordination relationship of $0^{\circ}$, $90^{\circ}$, and $180^{\circ}$relative phases between the two joints. Mean relative phase and phase stability (standard deviation of relative phase) were computed to for analysisze of overall coordination performance. To determine the figure out characteristics of torque components in elbow and wrist joints, impulse values of muscle torque (MT) and interactive torque (IT) and MT as a percentage of cycle duration (MT-PCD) were analyzed. Results: Torque results showed that the proximal elbow joint generated motions with mainly muscle efforts regardless of coordination patterns, while the distal wrist joint adjusted the coordination patterns by changing amount of MT. Impulse analyses showed that the least stable $90^{\circ}$ pattern was performed by utilizing a similar coordination strategy of the most stable $0^{\circ}$ pattern. Conclusion: The present current study suggests that the roles of distal and proximal joints differ in order to achieve various multi-joint coordination movements. This study provides information for use in gives an idea to development of rehabilitation or training programs for to persons with an impaired upper limb motor ability.

• 제어로봇시스템학회논문지
• /
• 제10권12호
• /
• pp.1223-1232
• /
• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2004년도 추계학술대회 논문집
• /
• pp.187-192
• /
• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• Structural Engineering and Mechanics
• /
• 제82권1호
• /
• pp.69-79
• /
• 2022

This paper discusses the field testing of two single-span double-tee girder (DTG) bridges in South Dakota to determine live load distribution factors (LLDFs) and the dynamic load allowance (IM). One bridge had seven girders and another had eight girders. The longitudinal girder-to-girder joints of both bridges were deteriorated in a way that water could penetrate and the joint steel members were corroded. A truck traveled across each of the two bridges at five transverse paths. The paths were tested twice with a crawl speed load test and twice with a dynamic load. The LLDFs and IM were determined using strain data measured during the field tests. These results were compared with those determined according to the AASHTO Standard and the AASHTO LRFD specifications. Nearly all the measured LLDFs were below the AASHTO LRFD design LLDFs, with the exception of two instances: 1) An exterior DTG on the seven-girder bridge and 2) An interior DTG on the eight-girder bridge. The LLDFs specified in the AASHTO Standard were conservative compared with the measured LLDFs. It was also found that both AASHTO LRFD and AASHTO Standard specifications were conservative when estimating IM, compared to the field test results for both bridges.