• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.963-966
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• 2005

Model updating method is known to the area to correct finite element models by the results of the experimental modal analysis. Most common methods in model updating depend on a parametric model of the structure. In this case, the number of parameters is normally smaller than that of modal data obtained from an experiment. In order to overcome this limitation, many researchers are trying to get modal data as many as possible to date. 1 want to name this method multiple modified-system generation method. These Methods consist of direct system modification method and feedback controller method. The direct system modification Is to add a mass or stiffness on the original structure or perturb the boundary conditions. The feedback controller method is to make the closed food system with sensor and actuator so as to get the closed loop modal data. In this paper, we need to focus on the feedback controller method because of its simplicity. Several methods related the feedback controller methods are virtual passive controller (VPC) sensitivity enhancement controller (SEC) and mode decoupling controller (MDC). Among them, we will apply MDC to the model updating problem. MDC has various advantages compared with other controllers, such as VPC and SEC. To begin with, only the target mode can be changed without changing modal property of non-target modes. In addition, it is possible to fix any modes if the number of sensors is equal to that of the system modes. Finally, the required control power to achieve desired change of target mode is always lower than those of other methods such as VPC. However, MDC can make the closed loop system unstable when using incomplete modal data. So we need to take action to avoid undesirable instability from incomplete modal data. In this paper, we address the method to design the unique and robust MDD obtained from incomplete modal data. The associated simulation will be Incorporated to demonstrate the usefulness of this method.

• Journal of Advanced Navigation Technology
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• v.20 no.4
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• pp.344-351
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• 2016

In the present study, a dual-band multiple-input-multiple-output (MIMO) antenna covering WLAN frequency bands of 2.4 GHz (2.4 ~ 2.484 GHz) and 5 GHz (5.15 ~ 5.825 GHz) is newly presented to avoid use of decoupling structure for increasing isolation. The antenna consists of two L-shaped slots with n-shaped slots etched on the floating ground plane surrounded by open ended L-shaped slots which are placed in the left and right corner of PCB respectively. The proposed antenna is designed and fabricated on one side of FR4 substrate with dielectric constant of 4.3, thickness of 1.6 mm, and size of $50{\times}50mm2$. It has been observed that the measured impedance bandwidths ($S_{11}{\leq}-10dB$) are 0.3 GHz (2.28 ~ 2.58 GHz) in 2.4 GHz frequency band and 0.89 GHz (5.11 ~ 6 GHz) in 5 GHz frequency band respectively. In addition, It has been observed that the whole efficiency are more than 80 % in the whole operating frequency band and envelope correlation coefficient of the antenna is less than 0.05 as a very small value in spite of nothing of the decoupling structure.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.12
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• pp.1209-1218
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• 2016

In order to safely and speedily transport a load such as a large glass plate using four electric cylinders, the synchronous error outside the permitted range should not be continuously generated between the cylinders. In this study, a methodology of synchronous control which can be applied to synchronization of four or more cylinders is developed. The synchronous control system based on the decoupling structure is composed of a reference model, position and synchronous controllers in the respective cylinders. The reference model is used for calculating the decoupled synchronous error and control input for the each cylinder. The position controller of I-PD type is designed in order that the cylinder may follow the reference signal without overshoot and input saturation. And the synchronous controller of lead compensator is designed to achieve stable and accurate synchronization through loop shaping approach. Finally, the simulation results show that the synchronization between the four cylinders can be quickly and stably while each cylinder rod is transferred to the target point under torque disturbance.

• Journal of Electrical Engineering and Technology
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• v.12 no.4
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• pp.1675-1682
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• 2017

This paper deals with three dimensional orientation estimation algorithm for an attitude and heading reference system (AHRS) based on nine-axis inertial/magnetic sensor signals. In terms of the orientation estimation based on the use of a Kalman filter (KF), the quaternion is arguably the most popular orientation representation. However, one critical drawback in the quaternion representation is that undesirable magnetic disturbances affect not only yaw estimation but also roll and pitch estimations. In this paper, a sequential direction cosine matrix-based orientation KF for AHRS has been presented. The proposed algorithm uses two linear KFs, consisting of an attitude KF followed by a heading KF. In the latter, the direction of the local magnetic field vector is projected onto the heading axis of the inertial frame by considering the dip angle, which can be determined after the attitude KF. Owing to the sequential KF structure, the effects of even extreme magnetic disturbances are limited to the roll and pitch estimations, without any additional decoupling process. This overcomes an inherent issue in quaternion-based estimation algorithms. Validation test results show that the proposed method outperforms other comparison methods in terms of the yaw estimation accuracy during perturbations and in terms of the recovery speed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.2
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• pp.207-225
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• 1992

The study is concerned with the thermo-viscoplastic finite element analysis of axisymmetric forward hot extrusion through square dies. The problem is treated as a nonsteady state problem because the distribution of temperature and material properties are continuously changing with the punch travel. In square die extrusion, difficulties arise from the severe distortion and die interference of elements at the aperture rim of the die even with a small punch travel. And finite element computation is impossible without intermittent remeshing. Accordingly, an automatic remeshing technique is proposed by employing specially designed mesh structure near the aperture rim. The analysis of temperature distribution includes heat conduction through material interfaces, heat convection and radiation to the atmosphere and is carried out by decoupling the heat analysis from the analysis of the deformation. The extrusion load and the distributions of strain rate and temperature are computed for the given cases rendering reasonable results. Computed grid distortions are found to be in good agreement with the experimental results. It has been thus shown that the proposed method of analysis can be effectively applied to the axisymmetric hot extrusion through square dies.

• The Journal of Korean Institute of Next Generation Computing
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• v.15 no.4
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• pp.80-88
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• 2019

Software Defined Networking (SDN) is the future network paradigm of decoupling control and data functions. In SDN structure, it is hard to address scalability in case of large-scale networks because single controller managed thousands of switches in a centralized fashion. Most of previous studies have focused on horizontal scalability, where distributed controllers are assigned to network devices. However, they have abstracted the control plane and the application plane into a single controller. The layer of the common SDN architecture is divided into data plane, control plane, and application plane, but the control plane and application plane have been modeled as a single controller although they are logically separated. In this paper, we propose a analytical traffic model considering the both application plane and control plane based on queuing theory. This model can be used to address scalability issues such as controller placement problem without complicated simulations.