• 한국안전학회지
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• 제26권4호
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• pp.69-79
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• 2011

This paper proposes a GA-based optimal fuzzy control technique for the vibration control of earthquakeexcited adjacent structures interconnected with semi-active magneto-rheological(MR) dampers. Rule-based fuzzy logic controllers are designed first by implementing heuristic knowledge and the genetic algorithm(GA) is then introduced to optimally tune the fuzzy controllers for enhancing the seismic performance of semi-active control system. For practical implementation, the fuzzy controller simply uses locally measured responses of the dampers involved and directly returns the input voltage to the magneto-rheological dampers in real time through the fuzzy inference mechanism. The local measurement based fuzzy controller provides optimal damping force in a decentralized manner so that it does not require a primary central controller unlike the conventional semi-active control techniques. As a result, it can avoid the unbridgeable discrepancy between the desired control force and the actual damper force that may occur in the conventional control approaches. The validity and effectiveness of the proposed control method are shown numerically on two 20-story earthquake-excited buildings interconnected with MR dampers.

• 대한인간공학회지
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• 제35권5호
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• pp.361-370
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• 2016

Objective:The aim of this study is to evaluate contributions of individual finger forces associated with various levels of submaximal voluntary contraction tasks. Background: Although many researches for individual finger force have been conducted, most of the studies mainly focus on the maximal voluntary contraction. However, Information concerning individual finger forces during submaximal voluntary contraction is also very important for developing biomechanical models and for designing hand tools, work equipment, hand prostheses and robotic hands. Due to these reasons, studies on the contribution of individual finger force in submaximal grip force exertions should be fully considered. Method: A total of 60 healthy adults without any musculoskeletal disorders in the upper arms participated in this study. The young group (mean: 23.7 yrs) consisted of 30 healthy adults (15 males and 15 females), and the elderly group (mean: 75.2 yrs) was also composed of 30 participants (15 males and 15 females). A multi-Finger Force Measurement (MFFM) System developed by Kim and Kong (2008) was applied in order to measure total grip strength and individual finger forces. The participants were asked to exert a grip force attempting to minimize the difference between the target force and their exerted force for eight different target forces (5, 15, 25, 35, 45, 55, 65, and 75% MVCs). These target forces based on the maximum voluntary contraction, which were obtained from each participant, were randomly assigned in this study. Results: The contributions of middle and ring fingers to the total grip force represented an increasing trend as the target force level increased. On the other hand, the contributions of index and little fingers showed a decreasing trend as the target force level increased. In particular, Index finger exerted the largest contribution to the total grip force, followed by middle, ring and little fingers in the case of the smallest target force level (5% MVC), whereas middle finger showed the largest contribution, followed by ring, index and little fingers at the largest target force levels (65 and 75% MVCs). Conclusion: Each individual finger showed a different contribution pattern to the grip force exertion. As the target force level increase from 5 to 75% MVC, the contributions of middle and ring fingers showed an increasing trend, whereas the contributions of index and little fingers represented a decreasing trend in this study. Application: The results of this study can be useful information when designing robotic hands, hand tools and work equipment. Such information would be also useful when abnormal hand functions are evaluated.

• Structural Engineering and Mechanics
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• 제30권6호
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• pp.763-785
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• 2008

In this study, a flexibility-based finite element method considering geometric and material nonlinearities is developed for analyzing steel-concrete frame structures. The stability functions obtained from the exact buckling solution of the beam-column subjected to end moments are used to accurately capture the second-order effects. The proposed method uses the force interpolation functions, including a moment magnification due to the axial force and lateral displacement. Thus, only one element per a physical member can account for the interaction between the bending moment and the axial force in a rational way. The proposed method applies the Newton method based on the load control and uses the secant stiffness method, which is computationally both efficient and stable. According to the evaluation result of this study, the proposed method consistently well predicts the nonlinear inelastic behavior of steel-concrete composite frames and gives good efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1131-1135
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• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1571-1574
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• 2003

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권9호
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• pp.3858-3869
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• 2020

In this paper, we propose a hash-chain based friendly force identification protocol for personal combatants equipped with a personal combat system in a tactical wireless network. It is imperative in military operations to effectively and quickly identify friendly forces. If the identification of friendly forces is not correct, this can cause friendly fire. In current ground operations, the identification of friendly forces by personal combatants is neither secure nor safe. To address this issue, the proposed protocol uses a hash-chain to determine if a detected person is friendly. Only friendly forces with the same materials that are assigned before they deploy can construct an initial hash-chain. Moreover, the hash-chain is changed at specific times. The performance of the proposed protocol is evaluated on the assumption that the secret key is leaked, which is the worst scenario in the security research field. We verify that the proposed protocol is secure for the various attack scenarios, such as message replay attack, fabrication attack, and Denial of Service attack.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.459-465
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• 2017

This paper describes a performance analysis of self-excited eddy current brake(SECB). Stator winding of SECB is connected by capacitor instead of voltage source, and SECB's braking force is generated by L-C resonance. SECB has wide range of driving and nonlinear inductance as well. Therefore, it is important to select capacitance based on the value of inductance. This paper discusses about the process of deciding capacitance and the change of resonance frequency based on the inductance change in each speed. Also the braking force was confirmed by the experimental model of SECB.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.236-239
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• 2003

In this paper, we investigate the issues for the design and implementation of tele-operation system based on the haptic interface. Here, the 3-DOF haptic device and the x-y-z stage are employed as master controller and slave system respectively. In this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of x-y-z stage are proposed. In this paper, inernet network is used for data communication between master and slave. We construct virtual environment of the real convex surface from the force-feedback in controlling the X-Y-Z stage and getting the force applied by the 3-DOF haptic device.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.235-238
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• 2003

In this study, we propose a method of digital control to drive the vibrating gyroscope using electromagnetic-force. The gyroscope requires accurate vibration control and signal processing for high performance. Conventional PLL based analog controller is not only difficult to manufacture but also weak to outer environment such as temperatures, air pressures and etc. But digital controller using DSP can consistently maintain the cylinder vibration and perform digital signal processing regardless of disturbance. DSP's PWM function was utilized to control the vibration, and rotation-detecting algorithm was developed. Finally, the controller was verified by simulation and experiment using rotation-rate table.

• 한국정밀공학회지
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• 제20권5호
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• pp.189-195
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• 2003

Atomic Force Microscope (AFM) has been widely used in micro/nano-scale studies and applications for. the last few decade. In this work, wear characteristics of silicon-based AFM tip was investigated. AFM tip shape was observed using a high resolution SEM and the wear coefficient was approximately calculated based on Archard's wear equation. It was shown that the wear coefficient of silicon and silicon nitride were in the range of ${10}^{-1}$~${10}^{-3}$ and ${10}^{-3}$~${10}^{-4}$, respectively. Also, the effect of relative humidity and sliding distance on adhesion-induced tip wear was discussed. It was found that the tip wear has more severe for harder test materials. Finally, the probable wear mechanism was analyzed from the adhesive and abrasive interaction point of view.