• Structural Engineering and Mechanics
• /
• 제26권1호
• /
• pp.43-68
• /
• 2007

Using the Mindlin-Reissner plate theory, many quadrilateral plate bending elements have been developed so far to analyze thin and moderately thick plate problems via displacement based finite element method. Here new formulation has been made to analyze thin and moderately thick plate problems using force based finite element method called Integrated Force Method (IFM). The IFM is a novel matrix formulation developed in recent years for analyzing civil, mechanical and aerospace engineering structures. In this method all independent/internal forces are treated as unknown variables which are calculated by simultaneously imposing equations of equilibrium and compatibility conditions. In this paper the force based new bilinear quadrilateral plate bending element (MQP4) is proposed to analyze the thin and moderately thick plate bending problems using Integrated Force Method. The Mindlin-Reissner plate theory has been used in the formulation of this element which accounts the effect of shear deformation. Standard plate bending benchmark problems are analyzed using the proposed element MQP4 via Integrated Force Method to study its performance with respect to accuracy and convergence, and results are compared with those of displacement based 4-node quadrilateral plate bending finite elements available in the literature. The results are also compared with the exact solutions. The proposed element MQP4 is free from shear locking and works satisfactorily in both thin and moderately thick plate bending situations.

• Tribology and Lubricants
• /
• 제28권6호
• /
• pp.289-296
• /
• 2012

Atomic force microscopy (AFM) has been used for imaging surfaces and measuring surface forces at the nano-scale. Force calibration is important for the quantitative measurement of forces at the nano-scale using AFM. Normal force calibration is relatively straightforward, whereas the lateral force calibration is more complicated since the lateral stiffness of the cantilever is often comparable to the contact stiffness. In this work, the lateral force calibrations of the rectangular cantilever were performed using torsional Sader's method, thermal noise method, and wedge calibration method. The lateral optical lever sensitivity for the thermal noise method was determined from the friction loop under various normal forces as well. Experimental results showed that the discrepancies among the results of the different methods were as large as 30% due to the effect of the contact stiffness on the lateral force calibration of the cantilever used in this work. After correction for the effect of contact stiffness, all the calibration results agreed with each other, within experimental uncertainties.

• 한국수산과학회지
• /
• 제27권5호
• /
• pp.605-612
• /
• 1994

The methods to determine the hydrodynamic coefficients for the fixed type artificial reefs which were constructed to control ecological system in coastal waters are compared and discussed by model test results. To calculate the wave forces, least square method show good agreement with the experimental results and more stability than maximum force component method or Fourier decomposition method. This modified least square method of weighting the square of measured force turned out to be the most feasible method for maximum force. Using the feasible method, hydrodynamic characteristics for artificial reefs on uniform slopes offshore and breaking zone were studied. They were properly related to Keulegan-Carpenter's number and found larger than previous results. Wave force coefficients for artificial reefs around breaking zone were distributed from 1.5 to 2.5, and the mean value was 2.0. Drag force components were more in evidence than inertia force in maximum force which is important parameter to evaluate stability for high-permeability structures. A formula for the calculation of the maximum force for artificial reefs design is proposed, using structural dimension, water particle velocity and Keulegan-Carpenter's number.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.803-806
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1523-1526
• /
• 1996

This paper presents a new method of force reflection in the teleoperated mobile robot control: artificial force feedback. Generally it is well known that force feedback from slave to master increases the reality with which the operator interacts with the environment. In the applications of the teleoperated mobile robot, however, such a force feedback control algorithm has rarely appeared in the literature because the contact force between the environment and the mobile robot is not available. In this paper, a method of artificially generating the feedback force for the teleoperated mobile robot is presented in order to improve the task performance. The computed artificial force feeds into the new designed joystick so as to increase the telepresence of the environment. Through simulations, we confirm the validity and effectiveness of our algorithm.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 1998년도 봄 학술발표회논문집(II)
• /
• pp.447-454
• /
• 1998

The main object of the study is that axial force-moment relationships for high strength concrete structures using reliability theory(Linear statstical method, Monte Carlo Simulation) including probability conception. And mean stress factors and centroid factors proposed to high strength concrete structures using reliability theory(Linear statstical method, Monte Carlo Simulation). Finally, The established experimental data for axial force-moment relationships are compared to the analytical data(data for Linear statstical method and Monte Carlo Simulation) for axial force-moment relationships in this analytical method.

• Journal of Electrical Engineering and Technology
• /
• 제12권6호
• /
• pp.2262-2267
• /
• 2017

A new force expression on dielectrics subjected to electric field is proposed in this paper. It is the electric version of the equivalent magnetizing current method in magnetic field. From the idea of electromagnetic duality, virtual equivalent electrifying magnetic current method is conjectured in the field of dielectric force problem. Numerical results show that the proposed method has good agreements with the conventional methods. The merits and demerits of the proposed method are also discussed.

• 드라이브 ㆍ 컨트롤
• /
• 제9권4호
• /
• pp.1-7
• /
• 2012

The voice coil linear force motor is a kind of a direct drive motion device that uses a permanent magnetic field and coil winding to produce force. In order to design a voice coil linear force motor, an exact calculations of the required force, the flux density in air gap and the flux pathway are needed. A conventional method can be used usually to calculate the flux density in air gap, but with this method it is needed to find a magnetic circuit revision constant. In this paper a voice coil linear force motor is designed by conventional design method and analyzed by 3D simulation program "Flux". For the prototype linear force motor, the results of the calculated by conventional design method and the analyzed by 3D simulation program are compared with the test result. Finally it is showed that the magnetic circuit revision constant which is found by comparing of the analyzed and the measured data can be used for the design of the voice coil type linear force motor to minimize the trial and error.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.172-178
• /
• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.772-776
• /
• 1997

For a robot to perfom more versatile tasks, it is invitable for the robot's end-effector to come into contact with its environment. In thos case, to achieve better performance, it is necessary to properly control the contact force between the robot and the environment. In thos work, hybrid control theory is studied and is verified through experiment using a 3 DOF robot. In the experiment, two position/force controllers are used. Fist, proportional-integral-derivative controller is used as the controller for both position and force. Second, computed-torque method is used as the position controller, and proportional-integral-derivative controller is used as the force controller. For a proper modeling used in computed-torque method, the friction torque is measured by experiment, and compensation method is studied. The hybrid control method used in this experiment effectively control the contact force between the end-effector and the environment for various types of jobs.