• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.903-909
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• 2015

This article presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under saturation of front lateral tire force. Regardless of the use of AFS, the front lateral tire forces can be easily saturated. Under the saturated front lateral tire force, AFS cannot be effective to generate a control yaw moment needed for the integrated chassis control. In this paper, new integrated chassis control is proposed in order to limit the use of AFS in case the front lateral tire force is saturated. Weighed pseudo-inverse control allocation (WPCA) with variable weight is adopted to adaptively use the AFS. To check the effectiveness of the proposed scheme, simulation is performed on a vehicle simulation package, CarSim. From simulation, the proposed integrated chassis control is effective for vehicle stability control under saturated front lateral tire force.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.994-997
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• 1988

The basic concept of this control scheme is that of an ideal massless manipulator carrying a load. The purpose of this paper is to converge the observed forces and moments at the mass center to the desired applied forces and moments. And the corresponding control algorithm is proposed.

• Smart Structures and Systems
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• v.21 no.3
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• pp.359-371
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• 2018

Strong seismic events commonly cause large drift and deformation, and functionality failures in the superstructures. One way to prevent functionality failures is to design structures which are ductile and flexible through yielding when subjected to strong ground excitations. By developing forces that assist motion as "negative stiffness forces", yielding can be achieved. In this paper, we adopt the weakening and damping method to achieve a new approach to reduce all of the structural responses by further adjusting damping phase. A semi-active control system is adopted to perform the experiments. In this adaptation, negative stiffness forces through certain devices are used in weakening phase to reduce structural strength. Magneto-rheological (MR) dampers are then added to preserve stability of the structure. To adjust the voltage in MR dampers, an inverse model is employed in the control system to command MR dampers and generate the desired control forces, where a velocity control algorithm produces initial required control force. An extensive numerical study is conducted to evaluate proposed methodology by using the smart base-isolated benchmark building. Totally, nine control systems are examined to study proposed strategy. Based on the numerical results of seven earthquakes, the use of proposed strategy not only reduces base displacements, base accelerations and base shear but also leads to reduction of accelerations and inter story drifts of the superstructure. Numerical results shows that the usage of inverse model produces the desired regulated damping, thus improving the stability of the structure.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• Aerospace Engineering and Technology
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• v.5 no.2
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• pp.240-247
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• 2006

Tilt rotor aircraft is a multi-configuration airplane which has three independent flight modes; helicopter, conversion, and aiplane. The control surface mixer resign is reqctired to generate and distribute efficient control forces and moments in each flight mode. In the conversion mode, the thrust vector is changed from helicopter mode to airplane, therefore the thrust vector makes undesired forces and moments which affect on pitch, roll and yaw dynamics. This paper describes the design results of control surface mixer design which minimize the undesired forces and moments due to nacelles tilting angle change for 4O% scaled model.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.632-638
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• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• Korean Journal of Applied Biomechanics
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• v.26 no.2
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• pp.191-195
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• 2016

Purpose: The purpose of this study was to analyze the immediate effects of ankle restriction with an elastic band on ground reaction force during a golf swing. Method: There were five subjects who were teaching pros with an average golf score of 75. A force platform (9281B, Switzerland) was used. The independent variable was the presence of an elastic band. The dependent variables were three-dimensional ground reaction forces to analyze the transfer of momentum with the timing, control and coordination of the three forces. A paired t-test within subject repeated measure design was used via an SPSS 20.0. Results: Wearing an elastic band around one's ankles significantly makes shorter time differences between the moment of cross anterior / posterior forces and vertical force and median value of anterior / posterior forces during the backswing, between medial and lateral maximum and anterior / posterior force from the top of the back swing to the mid down swing, and creates an anterior / posterior maximum force. Conclusion: Wearing an elastic band around one's ankles affects control and coordination between three dimensional forces, and anterior force power according to each phase of the golf swing.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.197-202
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• 2004

It is well known that the hydrodynamic interaction forces between ship and bank wall affect ship manoeuvring motion. This paper deals with the interaction effect acting on a ship navigating closely in the proximity of bank wail. In this paper, the calculation method based on the slender body theory for estimation of the hydrodynamic interaction forces between ship and bank wail is applied. The hydrodynamic interaction forces acting on a ship during passing through the proximity of the bank wail are predicted to evaluate an influence of these interaction forces on ship manoeuvrability. The calculation method used in this paper will be useful for prediction of ship manoeuvrability at the initial stage of design, for automatic control system of ship in confined waterways, for discussion of marine traffic control system and for construction of harbour.

• Journal of Navigation and Port Research
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• v.28 no.5
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• pp.333-337
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• 2004

It is well known that the hydrodynamic interaction forces between ship and bank wall affect ship manoeuvring motion This paper deals with the interaction effect acting on a ship navigating closely in the proximity of bank wall. In this paper, the calculation method based on the slender body theory for estimation of the hydrodynamic interaction forces between ship and bank wall is applied. The hydrodynamic interaction forces acting on a ship during passing through the proximity of the bank wall are predicted to evaluate an influence of these interaction forces on ship manoeuvrability. The calculation method used in this paper will be useful for prediction of ship manoeuvrability at the initial stage of design, for automatic control system of ship in confined waterways, for discussion of marine traffic control system and for construction of harbour.