• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• 대한기계학회논문집
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• 제18권2호
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• pp.260-270
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• 1994

With the prevalent use of robot, the interests in moving speed of robot have been increasing for the purpose of upgrading performance of production. But the faster robot manipulator moves, the worse working accuracies are. And mechanical vibration is more and more serious with the increment of the moving speed of robot. So, the study on the cause and control method of robot vibration is one of the points of issue in robotics. This paper focuses on the vibration of 3 DOF parallel link drive mechanism robot. We assume that links of robot manipulator are `rigid' and joints are `flexible elements'. Governing equations of robot system including controller, servo amplifier, D.C servo motor, transmission with elasticity, and manipulator dynamics are derived. On the basis of modelling, we define `controller stiffness' by the proportional gain of controller and `stiffness of transmission'. Numerical and experimental research is performed to study vibration phenomena of robot induced from the variation of these two defined stiffnesses, and its results are shown.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• 전기학회논문지
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• 제64권3호
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• pp.451-457
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• 2015

In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution.

• 대한인간공학회지
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• 제15권2호
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• pp.165-176
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufactruing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple- degree-of-freedom force feedback telemanipulation.

• 대한관절경학회지
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• 제1권1호
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• pp.123-127
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• 1997

Arthroscopic anterior cruciate ligament reconstructions using bone-patella tendon-bone have been considered the best method by which others are compared. The notchyplasty is one of the important steps of this procedure and it is emphasized recently to prevent retear of the reconstructed ACL caused by impingement. However, until now, there is controversy about adequate amount of notchyplasty. Also, it is hard to examine the adequacy of notchyplasty even in the arthroscopic field, The purpose of this paper is to describe the surgical technique of notchyplasty, using the flexible reamer and preliminary result of its operation. In this study the results of ACL reconstruction with notchyplasty which is made by us were analized from January. 1994 to December, 1995. The results were as follows: 1. The notchyplasty with flexible reamer is the method that can be obtained adequate amount of removal, perfectly smooth notchyplasty. 2. The range of motion of the affected knee joint was normal ROM after post operation 6 month. 3. In the last follow up, 2 cases were positive in anterior drawer test 4 cases were positive in Lachmann's test and 1 knee was positive in Pivot shift test 4. Average Lysholm knee scoring scale was 70 points at preoperative and 92 points at the last follow up.

• 한국방재학회:학술대회논문집
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• 한국방재학회 2007년도 정기총회 및 학술발표대회
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• pp.353-356
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• 2007

공항에 신규 활주로 및 유도로를 시공하기 위하여 공용중인 공항의 아스팔트 포장부를 모니터링한 결과, 종방향 균열이 관찰되었다. 종방향 균열의 원인은 아스팔트 포장 시공시 발생되는 종방향 시공조인트부의 낮은 밀도와 비행기의 높은 하중으로 판단되었다. 이에 따라 종방향 균열의 최소화 시공을 위해 공항의 연성 포장 구간에 12m폭의 스크리드를 가진 아스팔트 피니셔를 이용하여 편대포장을 실시하였다. 편대포장을 사용하면 첫 번째 차선의 비구속 단면부가 두 번째 차선과 같이 다짐되므로, 종방향 조인트부가 개선된다. 결과적으로 편대 포장 시공법을 사용하여 종방향 조인트부의 밀도와 인근의 일반 포장부의 밀도를 같게 하는 결과를 얻을 수 있었다.

• 한국안전학회지
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• 제17권2호
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• pp.16-21
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• 2002

At present the Polyethylene piping, on supporting LNG is widely used because of it's disposition which are anti-corrosion flexible and so on. However, it has a few kinds of risk which are the possibility of piping leak, the character of easily corroded and so on. For giving solution, this study is intended to experiment the intension of the PE pipe after melted and when it is melting, the condition which are temperature and pressure is changed. the melting condition in temperature and pressure is adapted identically. After melting, it's joint is tested as intension. The result is that the effect of temperature in intension is more effective than pressure. In $210^{\circ}C$, $20kg/cm^{2}$ condition, the melting intension has the highest. Compare to the Butt melting joint and the Saddle melting joint, the former was $214kg/cm^{2}$ and the latter was $50kg/cm^{2}(bead\;2{\sim}3mm)$ and $73kg/cm^{2}(bead\;5{\sim}7mm)$. It means that the Butt melting method has more intensive than saddle. Consequently, the result shows that the liability and safety when pipe melting method is used will improve in pipe installation.

• 로봇학회논문지
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• 제3권4호
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• pp.315-322
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• 2008

A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.243-250
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• 2004

This paper reports on the evaluation of the initial stiffness of steel joints using component method as well as experimental tests. The so-called component method corresponds precisely to a simplified mechanical model composed of extensional springs and rigid links, whereby the joint is simulated by an appropriate choice of rigid and flexible components. An application to a cantilever beam-to-column steel joint is presented and compared to the experimental results obtained under cyclic loading condition. Comparison between numerical and experimental results allows to conclude that the numerical model is able to simulate, with a good level of accuracy for initial stiffness, the behaviour of beam-to-column joints.