• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.5
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• pp.259-267
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• 2019

This paper proposes a structure of a variable impedance control system based on sensor-less external force estimator of industrial manipulators for cyber physical production systems (CPPS). To implement CPPS, a feedback system is constructed by using the robot operating system (ROS) and an external force estimator which is designed to measure the external force applied to the manipulator without a force sensor. Based on the robot dynamics, the robot-human cooperating system for the cyber physics production system is implemented through a controller that changes the impedance characteristics of the manipulator according to the situation using the external force estimator. Simulation and experimental results verify the effectiveness of the proposed control system.

• Communications of the Korean Mathematical Society
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• v.17 no.1
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• pp.175-187
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• 2002

The existence and uniqueness of steady states for the age structured S-I-R epidemic model is considered. Intercohort form with external force is considered for the force of infection. Existence is obtained for nonvanishing external force of infection. Uniqueness is shown for the case where there is no vertical transmission of the disease.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.379-384
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• 2013

For effective ship management in VTS(Vessel Traffic Service), it needs to assess the external force acting on ship. Big data in maritime traffic can be roughly categorized into two groups. One is the traffic information including ship's particulars. The other is the external force information e.g., wind, sea wave, tidal current. This paper proposes the method to assess the external force acting on ship using big data in maritime traffic. To approach Big data in maritime traffic, we propose the Waterway External Force Code(WEF code) which consist of wind, wave, tidal and current information, Speed Over the Water(SOW) of each ship, weather information. As a results, the external force acting a navigating ship is estimated.

• Communications of the Korean Mathematical Society
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• v.18 no.1
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• pp.133-149
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• 2003

Local stability of steady states of an epidemic model is considered. An age structured S-I-R epidemic model with separable inter-cohort force of infection with external force is considered. Stability result for the nontrivial steady states is obtained.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.803-806
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• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.4
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• pp.262-269
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• 2016

In this paper, we propose a novel dynamical love model of Romeo and Juliet, which has an external force with a fuzzy membership function. The external force used in the model has the characteristics of a Gaussian function. The chaotic behavior in the model is demonstrated using time series and phase portraits.

• Journal of the Korea institute for structural maintenance and inspection
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• v.13 no.2 s.54
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• pp.153-164
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• 2009

In this paper, a method of increasing in load-carrying capacity is shown in two-span steel-concrete composite bridges strengthened by external tendons. An analytic expression for the increment of tendon force under external loads is derived using virtual work method for straight external tendons and a new rating factor equation is proposed. Considering the initial tendon force and its increment under external loads, an analytic procedure has been developed to calculate the number of tendons and the initial tendon force from the proposed rating factor equation. This method is used to verify a validity and rationality for an existing two-span composite steel-concrete bridge.

• Structural Engineering and Mechanics
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• v.52 no.4
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• pp.687-699
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• 2014

Based on the energy method considering the second order effects, the natural frequencies of externally prestressed simply supported beam and the compression softening effect of external prestress force were analyzed. It is concluded that the compression softening effect depends on the loss of external tendon eccentricity. As the number of deviators increases from zero to a large number, the compression softening effect of external prestress force decreases from the effect of axial compression to almost zero, which is consistent with the conclusion mathematically rigorously proven. The frequencies calculated by the energy method conform well to the frequencies by FEM which can simulate the frictionless slide between the external tendon and deviator, the accuracy of the energy method is validated. The calculation results show that the compression softening effect of external prestress force is negligible for the beam with 2 or more deviators due to slight loss of external tendon eccentricity. As the eccentricity and area of tendon increase, the first natural frequency of the simply supported beams noticeably increases, however the effect of the external tendon on other frequencies is negligible.