• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.4
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• pp.75-80
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• 2008

This paper presents an atomic force probe for triggering coordinate measuring machines(CMMs). A rigorous comparison is made between touch trigger probe and atomic force probe for CMMs. Typical CMMs(touch trigger probe based CMMs) often lead to some errors associated with object curvature and difference in triggering sensitivity. Their applicability is limited only to hard objects. The aim of this work is to develop a trigger sensor for CMMs using atomic force. In order to show the applicability of atomic force as a trigger sensor, a cylindrical shape is measured with a CMM and an atomic force microscope. Three different touch probe heads with different ball sizes are tested. The experiments show that smaller ball provides better results for curved objects. The experimental results also show that the performance of atomic force as a trigger sensor is about that of the smallest ball probe. In addition, experiments are also performed to measure soft objects. Finally, this paper suggests and verifies a trigger sensor using atomic force for CMMs.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.512-519
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• 2016

In this study, the tire road friction estimation(TRFE) algorithm for controlling the rear wheel driving force of a 4WD vehicle during acceleration is developed using a standard sensor in an ordinary 4WD passenger car and a speed sensor. The algorithm is constructed for the wheel shaft torque, longitudinal tire force, vertical tire force and maximum tire road friction estimation. The estimation results of shaft torque and tire force were validated using a torque sensor and wheel force transducer. In the algorithm, the current road friction is defined as the proportion calculated between longitudinal and vertical tire force. Slip slop methods using current road friction and slip ratio are applied to estimate the road friction coefficient. Based on this study's results, the traction performance, fuel consumption and drive shaft strength performance of a 4WD vehicle are improved by applying the tire road friction estimation algorithm.

• Tribology and Lubricants
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• v.37 no.1
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• pp.31-40
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• 2021

This study describes the effects of a thrust labyrinth seal applied to the backside of a centrifugal impeller on the axial thrust force for high speed turbomachinery. The bulk flow model using Neumann's equation calculates the seal cavity pressures and leakage flow rate of the thrust labyrinth seal based on three configurations: teeth-on-rotor (TOR), teeth-on-stator (TOS), and interlocking labyrinth seal (ILS). Prediction results show that the ILS is superior to the TOR and TOS in terms of leakage flow rate. A mathematical model of a centrifugal impeller with a thrust labyrinth seal on its backside calculates the force components corresponding to the impeller inlet, shroud, impeller backside outer, backside seal, and backside inner pressures. A summation of the force components renders the total axial thrust force acting on the centrifugal impeller. The Newton-Raphson numerical scheme iteratively calculates the pressures and leakage flow rate through the impeller wall gap. The prediction results reveal that the leakage flow rate and total axial thrust force increase with rotor speed, and the ILS significantly decreases the leakage flow rate, whereas it slightly increases the axial thrust force when compared to TOR and TOS. Increasing the seal clearance causes an increase in the leakage flow rate and a slight decrease in the axial thrust force with the ILS.

• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.200-207
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• 2024

A multi-component force sensor has been developed to measure force and moment components in high-speed flow media for submerged models. The size of the test model is determined based on the Reynolds number of the model at the test speed and expected blockage effect. A two-component force sensor unit has been created by assembling pairs of column elements arranged symmetrically under an eccentric load. The six-component force sensor is constructed with symmetric arrangements of two-component force sensor units in a rectangular plane. The signals generated from the strain gauges attached to the surface of the elements can be converted into force signals. The performance of the waterproof six-component force sensor has been evaluated through calibration. A simplified interference decomposition procedure has been introduced to increase the accuracy of measurement.

• Structural Engineering and Mechanics
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• v.73 no.6
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• pp.699-714
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• 2020

Force based design (FBD) approach is prevalent in most of the national seismic design codes world over. Direct displacement based design (DDBD) and energy based design (EBD) approaches are relatively new methods of seismic design which claims to be more rational and predictive than the FBD. These three design approaches are conceptually distinct and imparts different strength, stiffness and ductility property to structural members for same plan configuration. In present study behavioural assessment of frame of six storey RC building designed using FBD, DDBD and EBD approaches has been performed. Lateral storey forces distribution, reinforcement design and results of nonlinear performance using static and dynamic methods have been compared. For the three approaches, considerable difference in lateral storey forces distribution and reinforcement design has been observed. Nonlinear pushover analysis and time history analysis results show that in FBD frame plastic deformation is concentrated in the lower storey, in EBD frame large plastic deformation is concentrated in the middle storeys though the inelastic hinges are well distributed over the height and, in DDBD frame plastic deformation is approximately uniform over the height. Overall the six storey frame designed using DDBD approach seems to be more rational than the other two methods.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.4
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• pp.369-374
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• 2015

In this paper, an EM sensing based prestressing force estimation method is proposed, in which it can estimate tensile force of PS tendon for PSC girder. The PSC girder has more improved performance than the general concrete girder by introducing the prestressing to the concrete. Thus the PSC girder bridge is widely constructed due to its high performance and low cost. However, the prestressing force has not been managed nevertheless it is major factor for the maintenance of the PSC girder bridge. The prestressing force was just measured during construction using jacking device and after that, it can not be managed. For this reason, this paper proposes a tensile force estimation method of PS tendon based on EM sensor. The permeability of ferroelectric material is changed according to the induced stress to the material, in which it can be measured using EM sensor. To measure the permeability of PS tendon, the EM sensor was fabricated and verified by performing the MTS test. The test was performed using 7-wire steel tendon under the 0, 40, 80, 120, 160, 200 KN of tensile force. The permeability of PS tendon was gradually decreased according to the increasement of tensile force. The regression method was used to find the relation between permeability and stress. As a result, the permeability has linear relation with the tensile force of PS tendon and the pre-stressing force can be estimated by the derived estimation equation.

• Computational Structural Engineering
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• v.3 no.4
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• pp.123-132
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• 1990

In current practice of earthquake resistant design the equivalent lateral force procedure is widely used because of its simplicity and convenience. But the equivalent lateral force procedure is derived based on the assumptions that the dynamic behavior of the structure is governed primarily by the fundamental vibration mode and the effect of higher modes is included in an approximate manner. Therefore the prediction of dynamic responses of structures using the equivalent lateral force procedure is not reliable when the effect of higher vibration modes on the dynamic behavior is significant. In this study, design seismic load which can reflect the effect of higher vibration modes is proposed from the point of view of proper assessment of story shears which have the major influence on the design moment of beams and columns. To evaluate the effect of higher modes, differences between the story force based on the equivalent lateral force procedure specified in current earthquake resistance building code and the one based on modal analysis using design spectrum analysis are examined. From these results an improved design seismic load for the equivalent lateral force procedure which can reflect the effect of higher vibration modes are proposed.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.1
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• pp.55-63
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• 2022

A stranded ship means a ship which is stuck on a rock or a seabed, and cannot move by itself. The lightening plan is required to refloat the stranded ship. For this, we have to understand the forces and moments acting on the ship, which is composed of the gravity, buoyancy, and reaction force due to the touched area below the ship. This study defines those forces and moments, and proposed the calculation method to find the posture based on the static equilibrium. It is divided by two steps. In the first step, the magnitude and position of the reaction force are obtained based on the known information such as initial trim angle and draft of the ship. In the second step, the reaction force and the posture is calculated due to the three cases such as addition, reduction, and movement of the cargo. It is applied to three examples in order to calculate the reaction force, and the trim angle due to changes of the cargo. As a results, we successfully obtain the magnitudes and positions of forces acting on the stranded ship and to check the posture of the stranded ship.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1684-1687
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• 1997

A dynamic load simulator which can reproduce on-ground the hinge moment of aircraft control surface is and essential rig for the loaded performance test of aircraft test of aircraft acutation system. The hinge moment varies wide in the aricraft flight enveloped depending on specific flight condition and maneuvering status. To replicate the wide spectrum of this hinge moment variation within some accuracy bounds, a force controller is designed based on the Quantiative Feedback Theory (AFT). Through the analysis on hinge moment dynamics, a design specification for the force controller is suggested. The efficacy of QFT force controller is verivied by simulation, in which combined aricraft dynamics/flight control law and hydraulic actuation system dynamics of aircraft control surface are considered.