• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.560-563
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• 1997

The conventional impedance control has been known to have the following problems: it has lack of specifying force directly and unknown environment stiffness has to be known priori in order to specify the reference trajectory. In this paper, new impedance force control that can control a desired force directly under unknown stiffness is proposed. A new nonlinear impedance function is developed based on estimation of unknown stiffness from force and position measurements. The nonlinear characteristics of the proposed impedance function are analyzed based on unknown environment position. Simulation studies with robot manipulator are carried out to test analytical results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• 제50권5호
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• pp.211-217
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• 2001

In this paper, we have developed the 6 DOF force display system to be based on the single PC. The system is composed of the force display device, the force reflecting rendering algorithm and the high-speed controller. The previous systems had a problem, that must adopt high performance workstation or 2-PC in order to control the graphics speedily and stably. In this paper, it is possible to improve the problem as to develop its exclusive controller and new rendering algorithm. The proposed new rendering algorithm is based on the Proxy algorithm, which can convert information of the position, the velocity, and the haptic information into the force-data. Especially, as to use the proxy algorithm, we can construct dynamical virtual-environment with the elasticity, the viscosity, the mass, and the friction force. As the result of the experiment, we found that our system has much superior characteristics than some other haptic interfaces, because it can control of 30,000 polygon model constructed virtual object with 1[kHz] haptic interrupt cycle and 20[Hz] graphic interrupt cycle in the single PC based system.

• Structural Engineering and Mechanics
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• 제34권6호
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• pp.739-753
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• 2010

Pointing to the design requirement of prestressed space grid structure being the target cable force, the pretension scheme decision analysis method is studied when there's great difference between structural actual state and the analytical model. Based on recursive formulation of cable forces, the simulative recursive system for pretension process is established from the systematic viewpoint, including four kinds of parameters, i.e., system initial value (structural initial state), system input value (tensioning control force scheme), system state parameters (influence matrix of cable forces), system output value (pretension accomplishment). The system controllability depends on the system state parameters. Based on cable force observation values, the influence matrix for system state parameters can be calculated, making the system controllable. Next, the pretension scheme decision method based on cable force observation values can be formed on the basis of iterative calculation for recursive system. In this way, the tensioning control force scheme that can meet the design requirement when next cyclic supplemental tension finished is obtained. Engineering example analysis results show that the proposed method in this paper can reduce a lot of cyclic tensioning work and meanwhile the design requirement can be met.

• Structural Engineering and Mechanics
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• 제26권1호
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• pp.43-68
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• 2007

Using the Mindlin-Reissner plate theory, many quadrilateral plate bending elements have been developed so far to analyze thin and moderately thick plate problems via displacement based finite element method. Here new formulation has been made to analyze thin and moderately thick plate problems using force based finite element method called Integrated Force Method (IFM). The IFM is a novel matrix formulation developed in recent years for analyzing civil, mechanical and aerospace engineering structures. In this method all independent/internal forces are treated as unknown variables which are calculated by simultaneously imposing equations of equilibrium and compatibility conditions. In this paper the force based new bilinear quadrilateral plate bending element (MQP4) is proposed to analyze the thin and moderately thick plate bending problems using Integrated Force Method. The Mindlin-Reissner plate theory has been used in the formulation of this element which accounts the effect of shear deformation. Standard plate bending benchmark problems are analyzed using the proposed element MQP4 via Integrated Force Method to study its performance with respect to accuracy and convergence, and results are compared with those of displacement based 4-node quadrilateral plate bending finite elements available in the literature. The results are also compared with the exact solutions. The proposed element MQP4 is free from shear locking and works satisfactorily in both thin and moderately thick plate bending situations.

• Journal of the Earthquake Engineering Society of Korea
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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.

• Journal of Institute of Control, Robotics and Systems
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• 제19권4호
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• pp.315-321
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• 2013

This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 한국전산구조공학회 1990년도 가을 학술발표회 논문집
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• pp.73-78
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• 1990

In current practice of earthquake resistant design the equivalent lateral force procedure is widely used for its simplicity and convenience. But the equivalent lateral force procedure is derived based on the assumption that the dynamic behavior of the structure is governed primarily by the fundamental vibration mode. Therefore proper prediction of dynamic responses of the structure is unreliable using the equivalent lateral force procedure when the effect of higher vibration modes on the dynamic behavior is negligible. 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 are examined. From these results improved design seismic load for the equivalent lateral force procedure which can reflect the effect of higher vibration modes is proposed.

• Smart Structures and Systems
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• 제8권2호
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• pp.157-172
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• 2011

A new method for both local damage(s) identification and input excitation force identification of beam structures is presented using the dynamic response sensitivity-based finite element model updating method. The state-space approach is used to calculate both the structural dynamic responses and the responses sensitivities with respect to structural physical parameters such as elemental flexural rigidity and with respect to the force parameters as well. The sensitivities of displacement and acceleration responses with respect to structural physical parameters are calculated in time domain and compared to those by using Newmark method in the forward analysis. In the inverse analysis, both the input excitation force and the local damage are identified from only several acceleration measurements. Local damages and the input excitation force are identified in a gradient-based model updating method based on dynamic response sensitivity. Both computation simulations and the laboratory work illustrate the effectiveness and robustness of the proposed method.

• Physical Therapy Korea
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• 제24권4호
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• pp.77-83
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• 2017

Background: Shoulder external rotation exercises are commonly used to improve the stabilizing ability of the infraspinatus. Although the side-lying wiper exercise (SWE) is the most effective shoulder external rotation exercise to maximize infraspinatus activity, the effect of adduction force on the infraspinatus and posterior deltoid has not been demonstrated. Objects: This study was conducted to investigate whether horizontal adduction force increases infraspinatus activity and decreases posterior deltoid activity. Methods: Twenty-eight healthy subjects (male: 21, female: 7; $age=23.5{\pm}1.8years$; $height=170.1{\pm}7.4cm$; $weight=69.4{\pm}9.6kg$) were recruited. Subjects were asked to perform the SWE under two conditions: (1) general SWE and (2) SWE with adduction force using pressure biofeedback. Surface electromyography (EMG) signals of the infraspinatus and posterior deltoid were recorded during SWE. Paired t-tests were used to compare the EMG activity of the infraspinatus and posterior deltoid between the two conditions. Results: Posterior deltoid muscle activity was significantly decreased following SWE with adduction force ($7.53{\pm}4.52%$) relative to general SWE ($11.68{\pm}8.42%$) (p<.05). However, there was no significant difference in the infraspinatus muscle activity between the SWE with adduction force ($28.33{\pm}12.16%$) and the general SWE ($26.54{\pm}13.69%$) (p>.05). Conclusion: Horizontal adduction force while performing SWE is effective at decreasing posterior deltoid activity.

• Journal of Institute of Control, Robotics and Systems
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• 제9권10호
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• pp.798-807
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• 2003

We propose a blind mobile robot force control algorithm that uses force information as a guidance toward to the goal position. Based on the mobile robot dynamics, the control law is formed from explicit force errors. Simulation studies are conducted based on the kinematics and the dynamics of the mobile robot. Simulation results show that good force tracking can be achieved. In order to confirm simulation results, experiments are performed. The robot is commanded to follow unknown environment with maintaining a certain desired force. Experimental results show that the blind mobile robot successfully maintains contact with a regulated desired force and arrives at the goal position.