• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 대한기계학회논문집A
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• 제24권7호
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• pp.1871-1877
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• 2000

Longitudinal and lateral forces acting at tire are known to be closely related to the tractive ability, braking characteristics, handling stability and maneuverability of ground vehicles. However, it is not feasible in the operating vehicles to measure the tire forces directly because of high cost of sensors, limitations in sensor technology, interference with the tire rotation and harsh environment. In this paper, in order to develop tire force monitoring system, a new vehicle dynamics monitoring model is proposed including the roll motion. Based on the monitoring model, tire force monitoring system is designed to estimate the lateral tire force acting at each tire. A newly proposed SKFMEC (Scaled Kalman Filter with Model Emr Compensator) method is developed utilizing the conventional EKF (Extended Kalman Filter) method. Tire force estimation performance of the SKFMEC method is evaluated in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with a combined-slip Magic Formula tire model.

• 한국지진공학회논문집
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• 제27권1호
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• pp.13-24
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• 2023

In this study, alternative seismic force-resisting systems for plant structure supporting equipment were designed, and the seismic performance thereof was compared using nonlinear dynamic analysis. One alternative seismic force-resisting system was designed per the requirement for ordinary moment-resisting and concentrically braced frames but with a reduced base shear. The other seismic force-resisting system was designed by accommodating seismic details of intermediate and unique moment-resisting frames and special concentrically braced frames. Different plastic hinge models were applied to ordinary and ductile systems based on the validation using existing test results. The control model obtained by code-based flexible design and/or reduction of base shear did not satisfy the seismic performance objectives, but the alternative structural system did by strengthened panel zones and a reduced effective buckling length. The seismic force to equipment calculated from the nonlinear dynamic analysis was significantly lower than the equivalent static force of KDS 41 17 00. The comparison of design alternatives showed that the seismic performance required for a plant structure could be secured economically by using performance-based design and alternative seismic-force resisting systems adopting minimally modified seismic details.

• 센서학회지
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• 제23권6호
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• pp.357-361
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• 2014

This paper describes the evaluation of the effectiveness of rehabilitation therapy for patients with finger paralysis based on a two-finger force measurement system (TFFMS). The paralyzed fingers can be recovered through rehabilitation therapies. The finger pressing force of the patients can be measured utilizing the TFFMS previously developed by the author [7]. The TFFMS, however, has not been fully adopted as a standard method for evaluating the therapy owing to the lack of a standard protocol. The pressing force of healthy volunteers and patients is analyzed with the TFFMS to explore the feasibility of the TFFMS as an evaluation device. The test confirms that the established standard protocol is useful to quantitatively assess the progress of finger rehabilitation therapy.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1096-1101
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• 2009

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

• 반도체디스플레이기술학회지
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• 제4권1호
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• pp.35-41
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• 2005

An air levitation type wafer transfer system is composed of control and transfer track. Wafer transfer speed is mainly affected by air velocity of propulsion nozzle. In this study, the propulsion force coefficient was evaluated experimentally for the nozzle with 0.5mm, 0.8mm, and 1.0mm diameter. As a result, the propulsion force was largest in the smallest size of nozzle at same air velocity. The propulsion force coefficient of nozzle increases with reducing diameter of nozzle. This increment of propulsion force coefficient was enlarged remarkably at the 0.5mm diameter of nozzle.

• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.1349-1355
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• 2015

It is difficult to calculate the magnetic force of an object of magnetic material in contact with other objects using the existing methods, such as Maxwell stress tensor method, magnetic charge method, or magnetizing current method. These methods are applicable for force computation only when the object is surrounded by air. The virtual air-gap concept has been proposed for calculating the contact force. However, its application is limited to magneto-static system. In this paper, we present the virtual air-gap concept for contact surface force in the eddy-current system. Its validity and usefulness are shown by comparison between numerical and experimental examples.

• 한국컴퓨터정보학회논문지
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• 제22권10호
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• pp.1-7
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• 2017

In this paper, the separation force measuring system is developed. The separation force aries due to adhesive strength between semiconductor epoxy molding compound(EMC) and the metal plate in semiconductor formed plate. In general, when removing the metal plate in semiconductor formed plate from semiconductor epoxy molding compound, excessive strength can result in a increase in semiconductor defect rates, or conversely, if too little force is exerted on the metal plate in semiconductor formed plate, the semiconductor production rates can decrease. In this study, the design criteria for the selection of the AC servo motor, the role of the ball screw, the relationship between the load cell and the ball screw, and the rate of deceleration are given. In addition, minimizing the reject rate of semiconductors and maximizing the semiconductor production rate are achieved through the standardization of the collected separation force data measured by the proposed system.

• KCI Concrete Journal
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• 제11권3호
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• pp.141-151
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• 1999

In the replacement of bearing system of bridges, the jacking work to secure work spaces may cause damage of the superstructure, hence the behavior of superstructure by the jacking force must be considered. Especially, in prestressed concrete I-type girder bridges, considering the stress concentration at the girder and the load redistribution of superstructure, the allowable jacking force and jacking sequence have to be determined. In this study, an analytical method is proposed to calculate the jacking force and overall jacking sequence for the replacement of bearing system without any damage to the superstructure. The stress concentration at the girder and load redistribution of the deck due to jacking force are considered to compute the allowable jacking force for each girder and overall jacking sequence for girders in the deck. Using the solution algorithm developed in this study, the optimum jacking sequence and required jacking force for the prestressed concrete I-type gilder bridge having the standard sections are calculated.

• Computers and Concrete
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• 제33권2호
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• pp.217-240
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• 2024

The purpose of this study is to propose new hysteretic characteristics of medium- to low-rise RC structures controlled by both shear and flexure. Through previous study, the dual lateral force-resisting system composed of shear and flexural failure members has a new failure mechanism that cooperates to enhance the flexural capacity of the flexural failure member even after the failure of the shear member, and the existing theoretical equation significantly underestimates the ultimate strength. In this study, the residual lateral strength mechanism of the dual lateral force-resisting system was analyzed, and, as a result, an equation for estimating the residual flexural strength of each shear-failure member was proposed. The residual flexural strength of each shear-failure member was verified in comparison with the structural testing results obtained in previous study, and the proposed residual flexural strength equation for shear-failure members was tested for reliability using FEA, and its applicable range was also determined. In addition, restoring-force characteristics for evaluating the seismic performance of the dual lateral force-resisting system (nonlinear dynamic analysis), reflecting the proposed residual flexural strength equation, were proposed. Finally, the validity of the restoring-force characteristics of RC buildings equipped with the dual lateral force-resisting system proposed in the present study was verified by performing pseudo-dynamic testing and nonlinear dynamic analysis based on the proposed restoring-force characteristics. Based on this comparative analysis, the applicability of the proposed restoring-force characteristics was verified.