• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.94-99
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• 2000

In this study applied the general controller into th 16bit ordinary controller and recommand the simulator features the real system's propeties without DSP(Digital Signal Processing)-card. This simulator is designed to be synchronized in real time using A/D(Analog-Digital) convert and D/A(Digital-Analong) convert. In this study DSP card which is usually used for complex calculation is replaced with personal computer and designed to control, control-force using with the 16-bit micro processor.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2883-2890
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• 2000

In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.

• Korean Journal of Computational Design and Engineering
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• v.15 no.2
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• pp.136-143
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• 2010

Realistic Modeling is to maximize the reality of the environment in which perception is made by virtual environment or remote control using two or more senses of human. Especially, the field of haptic rendering, which provides reality through interaction of visual and tactual sense in realistic model, has brought attention. Haptic rendering calculates the force caused by model deformation during interaction with a virtual model and returns it to the user. Deformable model in the haptic rendering has more complexity than a rigid body because the deformation is calculated inside as well as the outside the model. For this model, Gibson suggested the 3D ChainMail algorithm using volumetric data. However, in case of the deformable model with non-homogeneous materials, there were some discordances between visual and tactual sense information when calculating the force-feedback in real time. Therefore, we propose an algorithm for the Volume Haptic Rendering of non-homogeneous deformable object that reflects the force-feedback consistently in real time, depending on visual information (the amount of deformation), without any post-processing.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1179-1182
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• 2005

To facilitate the cell based robot research, we presented a micro-mechanical force measurement system for the biological muscle actuators, which utilize glucose as a power source for potential application in a human body or blood vessels. The system is composed of a micro-manipulator, a force transducer with a glass probe, a signal processor, an inverted microscope and video recoding system. Using this measurement system, the contractile force and frequency of the cardiac myocytes were measured in real time and the magnitude of the contractile force of each cardiac myocyte on a different condition was compared. From the quantitative experimental results, we estimated that the force of cardiac myocytes is about $20{\sim}40\;{\mu}$N, and showed that there is difference between the control cells and the micro-patterned cells.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.4
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• pp.13-18
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• 2003

This paper presents the in-process compensation to control cutter ronout and to improve the machined surface quality. Cutter ronout compensation system consists of the micro-positioning servo system with piezoelectric actuator which is embeded in the sliding table to manipulate radial depth of cut in real-time. Cutting force feedback control was proposed in the angle domain based upon repetitive learning control strategy to eliminate chip load variation in end milling process. Micro-positioning control due to adaptive actuation force response improves the machined surface quality by cutter ronout compensation.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.132-141
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• 2009

In this paper, we describe finger force estimation from surface electromyogram (sEMG) data for intuitive and delicate force control of robotic devices such as exoskeletons and robotic prostheses. Four myoelectric sites on the skin were found to offer favorable sEMG recording conditions. An artificial neural network (ANN) was implemented to map the sEMG to the force, and its structure was optimized to avoid both under- and over-fitting problems. The resulting network was tested using recorded sEMG signals from the selected myoelectric sites of three subjects in real-time. In addition, we discussed performance of force estimation results related to the length of the muscles. This work may prove useful in relaying natural and delicate commands to artificial devices that may be attached to the human body or deployed remotely.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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• pp.562-570
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• 2002

The Purpose of this paper is to design and manufacture an educational system in order to demonstrate the causes and effects of electromagnetic induction.'rho educational system described in this study is a "jumping ring apparatus". This system demonstrates the principle of electromagnetic induction, a force from AC sources, Lenz's law of repulsion and transformer. The educational system is composed of a jumping ring apparatus, a sensor array, encoder, A/D converter, D/A converter and nonlinear controller. The educational system is controlled by 586 PC using Turbo C program. The sensor array is composed of 20 optical sensors. The nonlinear controller consists of nonlinear control algorithm and control board included SCR, FET and phase controller. The A/D converter is used to show the height of ring position to analog for an education purpose. The control signal calculated from the nonlinear control of algorithm send control board through 8 bit D/A convertor. Experiment results are given to verify that Proposed nonlinear controller is useful in on line control of the educational system.al system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.48-53
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• 1997

The objective of this paper is to present the development and application of interface software between robot and F/T sensor for force control. The interface software for among the robot controller, F/T sensor, and host PC is based on interrupt-driven method. To show the suitability of developed interface software, writing-task is performed in real time using F/T sensor that mounts on the wrist of the robot and Scara type 4-axis robot.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.256-263
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• 2006

In this paper, an experimental hybrid method, which implements the earthquake response control of a building structure with a TLD(Tuned Liquid Damper) by using only a TLD as an experimental part, is proposed and is experimentally verified through a shaking table test. In the proposed methodology, the whole building structure with a TLD is divided into the upper TLD and the lower structural parts as experimental and numerical substructures, respectively. At the moment, the control force acting between their interface is measured from the experimental TLD with shear-type load-cell which is mounted on shaking table. Shaking table vibrates the upper experimental TLD with the response calculated from the numerical substructure, which is subjected to the excitations of the measured interface control force at its top story and an earthquake input at its base. The experimental results show that the conventional method, in which both a TLD and a building structure model are physically manufactured and are tested, can be replaced by the proposed methodology with a simple experimental installation and a good accuracy for evaluating the control performance of a TLD.