• Journal of Advanced Marine Engineering and Technology
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• 제18권4호
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• pp.25-32
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• 1994

This paper presents a robust impedance controller design to coordinate a robot manipulator under system uncertainties while regulating external forces. By an impedance approach, the relationship between the motion and external forces is defined. Due to the system uncertainties, two kind of sliding mode control schemes based on the impedance approach are derived to ensure that the manipulator end-effector follows a desired trajectory and the force applied to end effector is regulated according to a target impendance. A stability condition is shown according to a sliding condition. To evaluate the devised control scheme, a numerical example is shown.

• Structural Monitoring and Maintenance
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• 제1권3호
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• pp.339-356
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• 2014

This study has been motivated to evaluate the practicality of numerical simulation of impedance monitoring for damage detection in steel column connection. In order to achieve the objective, the following approaches are implemented. Firstly, the theory of electro-mechanical (E/M) impedance responses and impedance-based damage monitoring method are outlined. Secondly, the feasibility of numerical simulation of impedance monitoring is verified for several pre-published experimental examples on steel beams, cracked aluminum beams, and aluminum round plates. Undamaged and damaged steel and aluminum beams are simulated to compare to experimental impedance responses. An aluminum round plate with PZT patch in center is simulated to investigate sensitive range of impedance responses. Finally, numerical simulation of the impedance-based damage monitoring is performed for a steel column connection in which connection bolts are damaged. From the numerical simulation test, the applicability of the impedance-based monitoring to the target steel column connection can be evaluated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1803-1804
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• 2006

The purpose of this paper is to implement a Labview based TFDR Real Time system through the instruments of Pci eXtensions for Instrumentation(PXI). The proposed load impedance measurement algorithm was verified by experiments via the implemented real time system. The TFDR real time system consisted of the reference signal design, signal generation, signal acquisition, algorithm execution and results display parts. To implement real time system, all of the parts wore programmed by the Labview which is one of graphical programming languages. In the application software implemented by the Labview we were able to design a suitable reference signal according to the length and frequency attenuation characteristics of the target cable and controled the arbitrary waveform generator(ZT500PXI) of the signal generation part and the digital storage oscilloscope(ZT430PXI) of the signal acquisition part. By using the TFDR real time system with the terminal resistor on the target cable, we applied to the load impedance measurements. In the proposed load impedance algorithm a normalized time-frequency cross correlation function and a cross time-frequency distribution function was employed to calculate the reflection coefficient and phase difference between the input and the reflected signals.

• 한국해양공학회지
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• 제26권1호
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• pp.27-33
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• 2012

This paper presents the effect of temperature on the impedance-based damage monitoring of steel-bolt connections using wireless impedance sensor nodes. In order to achieve the objective, the following approaches are implemented. First, a temperature-compensated damage monitoring scheme that includes a temperature compensation model and damage detection method is described. The temperature compensation model is designed by analyzing the linear regressions between the temperatures and impedance signatures. The correlation coefficient of the impedance signatures is selected as the damage index to monitor the damage occurrence in the target structures. Second, a wireless impedance sensor node is described for the design of the hardware components and embedded software. Finally, the performance of the temperature-compensated impedance-based damage monitoring scheme is evaluated for detecting a loose bolt in the steel-bolt connections on a lab-scale steel girder under various temperatures.

• 센서학회지
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• 제18권1호
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• pp.42-47
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• 2009

In this paper we propose a microfluidic chip that measures the mechanical stiffness of cell membrane using impedance measurement. The microfluidic chip is composed of PDMS channel and a glass substrate with electrode. The proposed device uses patch-clamp technique to capture and deform a target cell and measures impedance of deformed cells. We demonstrated that the impedance increased after the membrane stretched and blocked the channel.

• Smart Structures and Systems
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• 제15권1호
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• pp.41-55
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• 2015

This study proposes a laser based impedance measurement system and impedance based pipe corrosion and bolt-loosening monitoring techniques under temperature variations. For impedance measurement, the laser based impedance measurement system is optimized and adopted in this paper. First, a modulated laser beam is radiated to a photodiode, converting the laser beam into an electric signal. Then, the electric signal is applied to a MFC transducer attached on a target structure for ultrasonic excitation. The corresponding impedance signals are measured, re-converted into a laser beam, and radiated back to the other photodiode located in a data interrogator. The transmitted impedance signals are treated with an outlier analysis using generalized extreme value (GEV) statistics to reliably signal off structural damage. Validation of the proposed technique is carried out to detect corrosion and bolt-loosening in lab-scale carbon steel elbow pipes under varying temperatures. It has been demonstrated that the proposed technique has a potential to be used for structural health monitoring (SHM) of pipe structures.

• 대한전자공학회논문지SD
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• 제39권3호
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• pp.49-60
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• 2002

본 논문에서는 DRAM 모듈의 전원 평면에 대한 효과적인 설계 방법을 제시하였고 그 방법은 다음과 같이 세 단계로 구성되어 있다. 1) PEEC 등가회로를 이용한 2D 전송선 구조로 전원평면의 모델링 및 해석. 2) 측정값 비교를 통한 해석 결과 검증. 3) 전원 평면의 물리적 파라미터를 이용한 설계 가이드 제시. 제시한 내용을 바탕으로 하여 DRAM 모듈에서 전원 및 접지평면 성능을 안정화를 이루기 위한 효과적인 De-coupling 커패시터의 용량과 개수를 결정하는 방법을 기술하였다 이 설계 방법론은 스트립 구조 및 do-coupling 커패시터를 갖는 DRAM 모듈에서 효과적으로 사용할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.448-451
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• 1995

A general task execution with hybrid impedance control method is addressed. The target impedance is expressed in the constraint frame. For the computational simplicity and the robustness improvement, disturbance observer scheme is used. To make stable contact with the environment, the large value of desired inertia gain for the force-controlled subspace is suggested. Numerical examples are given to show the performance of the proposed controller.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.669-674
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• 2007

To develop a promising hybrid structural health monitoring (SHM) system, a combined use of structural vibration and electro-mechanical (EM) impedance is proposed. The hybrid SHM system is designed to use vibration characteristics as global index and EM impedance as local index. The proposed health monitoring scheme is implemented into prestressed concrete (PSC) girder bridges for which a series of damage scenarios are designed to simulate various prestress-loss situations at which the target bridges car experience during their service life. The measured experimental results, modal parameters and electro-magnetic impedance signatures, are carefully analyzed to recognize the occurrence of damage and furthermore to indicate its location.

• 로봇학회논문지
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• 제14권4호
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.