• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.7
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• pp.71-76
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• 2022

This study describes an evaluation of the vibration-level reduction effect of natural rubber inserted between two aluminum blocks, in which the modal parameters are predicted using two different damping systems. A numerical model with two degrees of freedom was established for both the cases. One was an eigenvalue problem analysis using a state space method and general viscous damping, whereas the other was a method using hysteretic damping. The modal parameters obtained from these two approaches were compared with those obtained from the finite element method using a commercial package. As a result, the natural frequencies observed in the complex frequency response curve were consistently less than the average of four percents. The damping ratios also showed good agreement within a reasonable range. However, the hysteretic damping system showed a relatively larger difference for all modal parameters. This suggests that the analysis procedure makes it easier to predict the vibration transmission characteristics of the shape and configuration of any cushioning layer.

• Earthquakes and Structures
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• v.24 no.6
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• pp.393-404
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• 2023

This paper presents the application of hybrid-simulation-based adapter elements for the non-linear two-scale analysis of reinforced concrete frames with masonry infills under seismic-like demands. The approach provides communication and distribution of the computations carried out by two or more remote or locally distributed numerical models connected through the OpenFresco Framework. The modeling consists of a global analysis formed by macro-elements to represent frames and walls, and to reduce global degrees of freedom, portions of the structure that require advanced analysis are substituted by experimental elements and dimensional couplings acting as interfaces with their respective sub-assemblies. The local sub-assemblies are modeled by solid finite elements where the non-linear behavior of concrete matrix and masonry infill adopt a continuum damage representation and the reinforcement steel a discrete one, the conditions at interfaces between concrete and masonry are considered through a contact model. The methodology is illustrated through the analysis of a frame-wall system subjected to lateral loads comparing the results of using macro-elements, finite element model and experimental observations. Finally, to further assess and validate the methodology proposed, the paper presents the pushover analysis of two more complex structures applying both modeling scales to obtain their corresponding capacity curves.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.144-155
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• 2004

This paper addresses the issue of position control of a chain of multiple mass-spring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive output feedback controllers to control the position of a CMMSD system. The proposed controllers rely on the measurements of the input (force) and the output (position of the mass unit at the end of the chain) of the system without the knowledge of its parameters and internal states. Simulations are used to verify the effectiveness of the controllers

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Advances in Computational Design
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• v.7 no.1
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• pp.69-79
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• 2022

In this research, the aeroelastic instability of a tail section manufactured from aluminum isotropic material with different shell thickness investigated. For this purpose, the two degrees of freedom flutter analytical approach are used, which is accompanied with simulation by finite element analysis. Using finite element analysis, the geometry parameters such as the center of mass, the aerodynamic center and the shear center are determined. Also, by simulation of finite element method, the bending and torsional stiffnesses for various thickness of the airfoil section are determined. Furthermore, using Lagrange's methods the equations of motion are derived and modal frequency and critical torsional/bending modes are discussed. The results show that with increasing the thickness of the isotropic airfoil section, the flutter and divergence speeds increased. Compared of the obtained results with other research, indicates a good agreement and reliability of this method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.08a
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• pp.226-234
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• 2004

In this study experiments are conducted with a mid-layer type structure. This structure can operate not only at water surface but also in water. Six degrees of freedom oscillations of the structure and mooring force were measured by model experiments. From these experiments, it was shown that the lattice model has two peaks in the surge response curve and the oscillation amplitude and mooring forces increase according to the distance of separation between water level and upper deck.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.10a
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• pp.212-219
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• 1999

In this paper we investigated an applicability of earthquake regulations for seismic-isolated building structures which has been used currently and propose an efficient method for vertical distribution of seismic loads. The distribution of force is revised in UBC-94 as vertical distribution of force of UBC(Uniform Building Code)-91 is not sufficient safety but its distribution is inefficient expensive because of similar expression to fixed-based structures. In order to overcome this difficulties improved vertical distribution to fixed-based structures. In order to overcome this difficulties improved vertical distribution of seismic load is proposed using two degrees-of-freedom isolated structures and mode shape of fixed-based structures. Efficiency and accuracy of the proposed method are verified through analysis of an example structures with moment resisting frame and shear walls so this study approximate to dynamic analysis results in each case.

• Structural Engineering and Mechanics
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• v.54 no.4
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• pp.711-723
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• 2015

This study investigates the identification of added mass and its location in the glass fiber reinforced polymer (GFRP) beam structures. The main emphasis of this paper is to ascertain the importance of inclusion of rotational degrees of freedom (dofs) in the introduction of added mass or damage identification. Two identification indices that include the rotational dofs have been introduced in this paper: the modal force index (MFI) and the modal rotational curvature index (MRCI). The MFI amplifies damage signature using undamaged numerical stiffness matrix which is related to changes in the altered mode shapes from the original mode shapes. The MRCI is obtained by using a higher derivative of rotational mode shapes. Experimental and numerical results are compared with the existing methods leading to a conclusion that the contributions of the rotational modes play a key role in the identification of added mass. The authors believe that the similar results are likely in the case of damage identification also.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.04b
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• pp.466-473
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• 2000

Optimality Criteria algorithm based on the derivation of reciprocal approximations has been applied to structural optimization of large-scale structures. However, required computational cost for the serial analysis algorithm of large-scale structures consisting of a large number of degrees of freedom and members is too high to be adopted in the solution process of O.C. algorithm Thus, parallel version of O.C. algorithm on the network of personal computers is presented in this Paper. Parallelism in O.C. algorithm may be classified into two regions such as analysis and optimizer part As the first step of development of parallel algorithm, parallel structural analysis algorithm is developed and used in O.C. algorithm The algorithm is applied to optimal design of a 54-story plane frame structure