• Journal of the Korean Society of Industry Convergence
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• v.26 no.1
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• pp.211-215
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• 2023

In this paper, the stability and effectiveness of the force control with a 6-axis compliance device are verified by performing comparative experiments with a commercial F/T sensor. The position/force control algorithm based on the Cartesian stiffness of a compliance device is briefly introduced and the design result of a 6-axis compliance device with F/T sensing is presented. The comparative experiments show that the force control using a compliance device is much more stable than that with rigid F/T sensor due to the enough compliance of a compliance device larger than robot positional resolution.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.29 no.2
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• pp.149-159
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• 2016

In this study, the solitary wave-induced tsunami force acting on an onshore bridges in coastal area was numerically modelled by means of TWOPM-3D based on Navier-Stokes solver and VOF method which can track free surface effectively. The validity of numerical analysis was verified by comparing the experimental tsunami bore force acting on vertical wall and column structure. In particular, the characteristics of tsunami force with the changing tsunami intensity were surveyed through numerical experiments. The availability of 3-dimensional numerical analysis was reviewed through the comparison between the existing numerical results and design criteria for each drag force coefficient by applying Morison equation considering only drag force. As reasonable and high-precision estimation method of tsunami force, it was suggested to apply the estimation method taking drag and inertial force into consideration at the same time.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.142-149
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• 2009

This paper proposes and demonstrates novel flexible contact force sensing devices for 3-dimensional force measurement. To realize the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin-film metal strain gauges, which are incorporated into the polymer, are used for measuring the three-dimensional contact forces. The force sensor characteristics are evaluated against normal and shear load. The fabricated force sensor can measure normal loads up to 4N. The sensor output signals are saturated against load over 4N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four force sensors are assembled and placed in the four corners of the robot's sole. By increasing bump dimensions, the force sensor can measure load up to 20N. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion system.

• Journal of Power Electronics
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• v.6 no.4
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• pp.290-297
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• 2006

Various methods have been discussed to reduce detent force in a tubular permanent magnet type linear single phase AC generator. In particular, the proposed methods depend on variations of the permanent magnet construction. These methods include two approaches in the form of sloped magnets, and conical magnets in addition to the conventional method of optimizing the magnet length. The undesired detent force ripples were calculated by a two dimensional Finite Element Method (FEM). Moreover, the generated electromotive force in the stator coils was calculated for each configuration of the permanent magnet. The experimental results agreed well with those obtained from the FEM-based simulations. Sufficient reduction in the detent force was achieved over the range of 40% while the root mean square of the output voltage was maintained. It was found that sloping the permanent magnet decreased the detent force and at the same time increased the generated rms voltage of the AC generator. The performance of the designed linear AC generator was evaluated in terms of its efficiency, total weight, losses, and power to weight ratio.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.30-34
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• 2012

A safety helmet is a personal protective equipment to protect the head from falling and flying objects. A safety helmet has the maximum delivered impact force as shock absorption performance, the lower delivered impact force the better performance, which was not a controlled variety during manufacturing safety helmet. Accordingly there were some difficulties in establishing the standard for improved performance as there was not a clear controllable impact force for improved performance. In this study the shock absorption performance was intended to be found as coefficient of restitution related to impulse. As a research method, a coefficient of restitution during the absorption of shock was calculated using the impulse transferred to pharynx utilizing the safety helmet shock absorption performance testing device based on the theory of momentum and impulse. The estimated impulsive force curve was derived assuming that shock was not absorbed using the measured data. The sample was selected as tested goods of ABS material for safety certification available mainly in the market. As a result of study, the maximum delivered impact force of safety helmet made by a domestic safety certified a company was 735 N, and its coefficient of restitution proved to be 0.64. The smaller coefficient of restitution is, the lower maximum delivered impact force and the higher shock absorption performance. The coefficient of restitution can be used as a performance index of safety helmet.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.311-316
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• 2004

In order to secure the traffic safety especially in the entrance waterway of harbour, it is important that the breakwater and the port facilities should be designed properly considering ship-handling difficulty and traffic flow. In this study, the lateral force acting on ship hull under the external force(wind, current, wave) is investigated quantitatively for the container ship approaching to the Busan and Gamcheon breakwater. The relation of ship-handling difficulty to the breakwater and the arrangement of ship's routine are examined based on the lateral force under the external force. Some of reviews to secure traffic safety on the design of breakwater are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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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.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.7
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• pp.1438-1445
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• 2002

For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes have not been replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope that allows safe maneuverability in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfers momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjustment of impact force. Modeling and simulation experiments are carried out to predict the performance of the actuator. Simulations show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.