• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of Magnetics
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• v.20 no.4
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• pp.400-404
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• 2015

Various kinds of winding arrangements can be used to enable fault current limiters (FCL) to tolerate higher forces without resulting in a substantial increase in construction and fabrication costs. In this paper, a distributed winding arrangement is investigated in terms of its effects on the short-circuit forces in a three-phase FCL. The force magnitudes of the AC supplied windings are calculated by employing a finite element-based model in the time stepping procedure. The leakage flux and radial and axial force magnitudes obtained from the simulation are compared to those obtained from a conventional winding arrangement. The comparison shows that the distributed winding arrangement significantly reduces the radial and, especially, the axial force magnitudes.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.398-403
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• 2015

This paper introduces a method to estimate the contact-force of the leg of a walking robot and proposes a solution to a shortcoming of the previous study. This shortcoming was the deteriorating performance when estimating the contact-force whenever the rotation of each joint was reversed. It occurred because the friction-torque of each joint was not considered. In order to solve this problem, a friction-torque model for a robot leg was developed based on repetitive experimentation and used to improve the contact-force estimation performance. We verified the performance of the proposed method experimentally.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.845-847
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• 2015

A suspending force control based on fuzzy logic control is proposed to apply on a novel hybrid bearingless switched reluctance motor(BLSRM) which has separated torque and suspending force pole. Due to the unique structure, the suspending force control system can be easily decoupled from torque control system. In this paper, two fuzzy controller targeted at x-axis direction and y-axis direction are adopted to maintain the shaft at center position, which is very necessary for stable operation of BLSRM. By replacing the traditional PI block with modified fuzzy logic controller, the suspending system can behave a good performance, and the proposed scheme can be verified by simulation results.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.8 no.4
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• pp.129-135
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• 2009

In this paper, a finite element model is presented for the prediction of roll force and strip thickness in a backup-roll-drive mill. The proposed FE model is focused mainly on analyzing the elastic/plastic behavior between a work roll and a strip as well as the rigid/plastic behavior between a backup roll and a work roll. The capability of the proposed model is demonstrated through application to 4-high silicon steel rolling mill at POSCO. Results show that the predicted roll force and strip thickness rolled accurately agree with the measured them. It is also illustrated that the proper position of work roll displaced to one side from the vertical centerline of the backup-roll may be determined by minimizing the horizontal force of work roll.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.598-602
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• 1996

This study is performed for investigating the effects of stripping and counter punching force on shearing characteristics in fine blanking, such as camber, burr-height and dimensional accuracy, etc by experiments. Conventional hydraulic press equipped with specially designed hydraulic unit is used for experiments so that both the stripping force and counter punching force are arbitrarily adjusted according to experimental conditions. Two kinds of materials, hot rolled steel sheet(1mm, 3mm) and pure aluminum(1mm, 3mm) are selected in order to examine the influence of strength and thickness of working materials in blanking of T-shaped products. Based on the experimental results of this study, it can be concluded that the finely cut surface of sheared blank can be obtained even in conventional hydraulic press if additional equipments and special dies are employed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.842-847
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• 2002

One of the challenging problems with bicycle simulators is to deal with the inherent unstable bicycle dynamics that is coupled with rider's motion. For the bicycle dynamics calculation and the real time simulation, it is necessary to identify the control inputs from the rider as well as the virtual environments. The six control forces of the Stewart platform-based motion system are used for estimation of the rider's action force, which is one of the important control inputs, but of which the direct measurement is impractical. For the effective estimation of the rider's action force, the dynamics model of the motion system is derived incorporated with both analytical and experimental methods and the sliding mode controller with perturbation estimation is developed.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.474-478
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• 2004

Based on the recent laboratory experiments (Kim et al. 2004), comparisons of caisson sliding distance are made between the computations and experiments. The time history model of wave force, which is proposed by Tanimoto et al. (1996), is modified in the standing wave part of horizontal and uplift wave forces because of the overestimation of the time history model. The comparison between experimental and computational sliding distance has showed that the caisson tilting increases the resistant force to the horizontal sliding. Therefore, a titling resistant force, which is caused by caisson tilting, is introduced into computation of sliding distance.

• Smart Structures and Systems
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• v.15 no.5
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• pp.1203-1214
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• 2015

This paper deals with the experimental validation of the use of PVDF Patches for the assessment of spatial derivatives of displacement field. It focuses more exactly on the shear Force Identification by using Specific forms of PVDF patcHes (FISH) on beams. An overview of the theoretical approach is exposed. The principle is based on the use of the weak form of the equation of motion of the beam which allows the shear forces to be extracted at one edge of the sensor when this last has a specific form. The experimental validation is carried out with a cantilever steel beam, excited by a shaker at its free boundary. The validation consists in comparing the shear force measured by the designed sensor glued at the free edge and the directly measured force applied by the shaker. The sensor is made of two patches, called the "stiffness" patch and the "mass" patch. The use of both patches allows one to identify correctly the shear force on a large frequency domain. The use of only the stiffness patch is valid in the low frequency domain and has the advantage to have a frequency-independent gain that allows its use in real time.

• Korean Journal of Computational Design and Engineering
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• v.15 no.1
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• pp.70-83
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• 2010

Recently, floating cranes are mainly used to erect heavy blocks or cargos for constructing ships in many shipyards. It is important to estimate the dynamic motion of the heavy cargo suspended by a floating crane and the tension of the wire ropes between the floating crane and the heavy cargo. In this paper, the coupled dynamic equations of motion are set up for considering the 6 degree-of-freedom floating crane and the 6-degrees-of-freedom heavy cargo based on multibody system dynamics. Depending on the cargo weight, the motion of the floating crane would be changed to nonlinear state. The nonlinear terms in the equation of motion are considered. In addition, the nonlinear hydrostatic force, the linear hydrodynamic force, wire rope force, mooring force and gravity force are considered as the external forces. As the result of this paper, we analyze the engineering effect for erecting the heavy cargo by using the floating crane.