• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 추계학술대회 논문집
• /
• pp.59-62
• /
• 2005

Small force measurements ranging from 1 pN to $100{\mu}N$, we call it Nano Force, become the questions of common interests of biomechanics, nanomechanics, material researches, and so on. However, unfortunately, quantitative and accurate force measurements have not been taken so far. This is because there ,are no traceable force standards and a calibration scheme. This paper introduces a quantitative force metrology, which provides traceable link to SI (International Systems of Units). We realize SI traceable force ranging from 1 nN to $100{\mu}N$ using an electrostatic balance and disseminate it through transfer standards, which are self-sensing cantilevers that have integrated piezoresistive strain gages. We have been built a prototype electrostatic balance and Nano Force Calibrator (NFC), which is an AFM cantilever calibration system. As a first experiment, we calibrated normal spring constants of commercial AFM cantilevers using NFC. Calibration results show that the spring constants of them are quite differ from each other and nominal values provided by a manufacturer (up to 240% deviation).

• 전자공학회논문지T
• /
• 제36T권3호
• /
• pp.64-71
• /
• 1999

본 논문에서는 DD(Direct-drive)의 기구로서 2자유도 평행링크 기구를 사용하였다. 평행링크 기구는 2개의 모터가 각각 기저부에 설치되어 있기 때문에 모터 자체의 질량이 다른 모터에 부하가 되지 않고, 링크의 수는 증가하지만 arm의 질량이 가볍게 되어, 링크 파라미터의 설정에 의하여 원심력 등의 비선형력이 없어지며 동시에 모터사이의 비간섭화를 실현할 수 있다. 그리고 평행링크 DD로븟 매니퓰레이터의 고정도 운전의 실현을 위하여 신경회로망을 이용한 학습제어계를 설계하여 학습속도의 개선과 함께 변화한 작업대상에의 적응력을 개선하기 위하여 신경회로망과 피드백제어기로 학습제어 알고리즘을 구성한다.

• Management Science and Financial Engineering
• /
• 제15권1호
• /
• pp.51-69
• /
• 2009

A network model and a Genetic Algorithm (GA) is proposed to solve the simultaneous estimation of the trip distribution and traffic assignment from traffic counts in the congested networks in a logit-based Stochastic User Equilibrium (SUE). The model is formulated as a problem of minimizing a non-linear objective function with the linear constraints. In the model, the flow-conservation constraints are utilized to restrict the solution space and to force the link flows become consistent to the traffic counts. The objective of the model is to minimize the discrepancies between two sets of link flows. One is the set of link flows satisfying the constraints of flow-conservation, trip production from origin, trip attraction to destination and traffic counts at observed links. The other is the set of link flows those are estimated through the trip distribution and traffic assignment using the path flow estimator in the logit-based SUE. In the proposed GA, a chromosome is defined as a real vector representing a set of Origin-Destination Matrix (ODM), link flows and route-choice dispersion coefficient. Each chromosome is evaluated by the corresponding discrepancies. The population of the chromosome is evolved by the concurrent simplex crossover and random mutation. To maintain the feasibility of solutions, a bounded vector shipment technique is used during the crossover and mutation.

• Steel and Composite Structures
• /
• 제35권3호
• /
• pp.305-325
• /
• 2020

Beams of steel frame-tube structures (SFTSs) typically have span-to-depth ratios of less than five. This makes a flexural beam unsuitable for such an application because the plastic hinges at the beam-ends cannot be adequately developed. This leads to lower ductility and energy dissipation capacities of SFTSs. To address this, SFTSs with bolted web-connected replaceable shear links (SFTS-BWSLs) are proposed. In this structural system, a web-connected replaceable shear link with a back-to-back double channel section is placed at the mid-length of the deep beam to act as a ductile fuse. This allows energy from earthquakes to be dissipated through link shear deformation. SFTS and SFTS-BWSL buildings were examined in this study. Several sub-structures were selected from each designed building and finite element models were established to study their respective hysteretic performance. The seismic behavior of each designed building was observed through static and dynamic analyses. The results indicate that the SFTS-BWSL and SFTS have similar initial lateral stiffness and shear leg properties. The SFTS-BWSL had lower strength, but higher ductility and energy dissipation capacities. Compared to the SFTS, the SFTS-BWSL had lower interstory drift, base shear force, and story shear force during earthquakes. This design approach could concentrate plasticity on the shear link while maintaining the residual interstory drift at less than 0.5%. The SFTS-BWSL is a reliable resistant system that can be repaired by replacing shear links damaged due to earthquakes.

• 대한기계학회논문집A
• /
• 제25권3호
• /
• pp.362-368
• /
• 2001

To design a limiting MCCB (Molded Case Circuit Breaker) mechanism, a dynamic modeling of the mechanism in which the electro-magnetic force effects are incorporated needs to be developed. Conventionally, electro-magnetic effects were considered separately for the design of the mechanism. In this paper, an electro-magnetic force that is induced by limited current is identified and included in the dynamic modeling of the mechanism. Thus, the electro-magnetic which is defined as a external force and the mechanical effects are simultaneously considered for the design of the mechanism which is composed of contactor, spring , link, latch and so on.

• 한국생산제조학회지
• /
• 제7권5호
• /
• pp.98-105
• /
• 1998

In the automotive suspension system, especially, Mcpherson strut type, if the resultant of the force through tire and the link reaction force is not coincident with the spring force, the side load against shock-absorber occur. The magnitude of side load is proportional to the difference between resultant force and spring force. To reduce side load, several method can be used, and one is to use the side load coil spring. This study summarize the development results of side load coil spring, i.e., how to design, analysis, manufacture, and test.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
• /
• pp.990-993
• /
• 1988

RMFC (Resolved Motion Force Control) is the method to control the Cartesian force and position using FCC (Force Convergent Control) instead of the complicated dynamic equations of the manipulator. The gain parameters of the controller are adjusted through many trial and errors. In this paper PD-optimal control method is introduced to give optimal gain parameters which minimize the difference between actural acceleration and desired acceleration. To show the validitiesn of the proposed method computer simulations are performed for the two-link manipulator.

• 한국통신학회논문지
• /
• 제41권1호
• /
• pp.110-121
• /
• 2016

Link-16은 현재 미 공군 및 북대서양 조약기구 (NATO : North Atlantic Treaty Organization)에 의해 운용되고 있는 대표적인 전술데이터링크 (TDL : Tactical Data Link)이며 멀티넷 구조를 지원한다. 이러한 멀티넷 환경에서는 Link-16의 단말 노드들이 동시에 전체 대역에서 도약함으로써 작전을 효과적으로 수행할 수 있다. 최근 항공 교통량이 급증함에 따라 이를 수용하기 위해 새로운 항공 시스템을 도입하거나 기존의 시스템을 확충해야 하며 이러한 시스템을 운용하기 위해 할당되어야 할 주파수 대역이 부족한 상황이다. 이를 해결하기 위해 Link-16에서 사용하는 주파수 대역의 재분배 계획이 예정되어 있다. 재분배 계획이 수행되어 Link-16의 운용을 위한 주파수 대역이 제한될 경우 Link-16에서 다중 접속 간섭 발생률이 증가하게 되므로 멀티넷 성능 저하가 일어날 수 있다. 이로 인해 다양한 군사 작전을 수행하는데 어려움이 따른다. 따라서 본 논문에서는 주파수 부족 현상으로 인해 Link-16 웨이브폼의 멀티넷 성능이 저하되는 문제를 해결하기 위해 그룹 기반의 주파수 도약 방식을 제안하였다. 모의실험을 통해 제안 방식을 사용할 경우 Link-16 웨이브폼의 멀티넷 성능이 향상되는 것을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1613-1616
• /
• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 ITC-CSCC -2
• /
• pp.608-611
• /
• 2000

We introduce Adaptive Fuzzy Impedance Controller for position and force control when robot contact with environment. Because Robot and environment was always effected by nonlinear conditions, it need to deal with parameter’s uncertainty. For solving this problem, it induced Fuzzy System in Impedance Control so fuzzy system is impedance’s stiffness gain. We apply adaptive fuzzy impedance controller in One-Link Robot System, it shows the good performance on desired position control and force control about contacting with arbitrarily environment.