• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.539-542
• /
• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.11
• /
• pp.11-21
• /
• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1993.10a
• /
• pp.29-34
• /
• 1993

In many circumstances, it is desired to move a mass from one position to another without inducing any vibration in the mass being moved. Two such problems are considered here: the motion of a pendulum initiated by the specified motion of its support. In each case, it is desired that the system start at rest and come to rest in the second position. A simple strategy for the specified motion is given here. The method is motivated by engine cam-follower design. The force required to move the system in question is determined as well as the maximum value of the force required (and the times at which these forces take place) is determined.

• PNF and Movement
• /
• v.17 no.3
• /
• pp.463-469
• /
• 2019

Purpose: This study investigated the effect of plantar-flexor muscle fatigue on the force sense and joint reposition sense of ankle joints in the healthy adults. Methods: Fifteen healthy subjects (male: 9, female: 6) participated in this study. A digital dynamometer was used to measure the force sense error while a wireless motion capture device was used to measure the joint reposition sense error. To induce plantar-flexor muscle fatigue for a dominant lower extremity, the subjects were asked to perform plantar flexion until exhaustion while barefoot. The differences in force sense error and joint reposition sense error for the ankle joint were measured immediately. The Wilcoxon test was used to compare these values before and after inducing plantar-flexor muscle fatigue. Results: The force sense error and joint reposition sense error of ankle joints after inducing plantar-flexor muscle fatigue increased significantly compared to the values before inducing muscle fatigue. Conclusion: This study suggests that plantar-flexor muscle fatigue could degrade the force sense and joint reposition sense in ankle joints. In addition, it could deteriorate ankle proprioception.

• Journal of KSNVE
• /
• v.4 no.1
• /
• pp.83-88
• /
• 1994

In many circumstances, it is desired to move a mass from one position to another without inducing and vibration in the mass being moved. Two such problems are considered here : the motion of a mass initiated by another mass, nd the motion of a pendulum initiated by the specified motion of its support. In each case, it is dosired that the system start at rest and come to rest in the second position. A simple strategy for the specified motion is given here. The method is motivated by engine cam-follower design. The force required to move the system in question is determined as well as the maximum value of the force required(and the times at which these forces take place).

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.6
• /
• pp.731-738
• /
• 2013

This paper describes a fault-tolerant driving control strategy for an independent steer-by-wire system in sixwheel-drive/six-wheel-steering vehicles. An algorithm has been designed to realize vehicle maneuverability that is as close as possible to that of non-faulty vehicles by inducing high slip ratio of the wheel through a faulty steer-by-wire system in order to reduce the lateral tire force, which is resistant to the yaw motion. Considering the transition of the longitudinal tire force of a wheel with a faulty steer-by-wire component, the longitudinal tire forces are optimally distributed to the other wheels. Fault-tolerant driving performance has been investigated via computer simulations. Simulation studies show that the proposed algorithm can significantly improve the maneuverability of a vehicle with a faulty steer-by-wire system as compared to the optimal traction distribution method.

• Particle and aerosol research
• /
• v.9 no.2
• /
• pp.103-110
• /
• 2013

The electrostatic precipitator (ESP) has been used for degrading atmospheric pollutants. These devices induce the electrical forces to facilitate the removal of particulate pollutants. The ions travel from the high voltage electrode to the grounded electrode by Coulomb force induced by the electric field when a high voltage is applied between two electrodes. The ions collide with gas molecules and exchange momentum with each other thus inducing fluid motion, electrohydrodynamic (EHD) flow. In this study, for the simulation of electric field and EHD flow in ESPs, an open source EHD solver, "espFoam", has been developed using open source CFD toolbox, OpenFOAM(R) (Open Field Operation and Manipulation). The electric potential distribution and ionic space charge density distribution were obtained with the developed solver, and validated with experimental results in the literature. The comparison results showed good agreement. Turbulence model is also incorporated to simulate turbulent flow; hence the developed solver can analyze laminar and turbulent flow. In distributions of electric potential and space charge, the distributions become distorted and asymmetric as the flow velocity increases. The effect of electrical drift flow was investigated for different flow velocities and the secondary flow in a flow of low velocity is successfully predicted.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.30 no.6
• /
• pp.242-252
• /
• 2018

It is well known that an Oscillating Water Column Wave Energy Converter (OWC-WEC) is one of the most efficient wave absorber equipment. This device transforms the vertical motion of water column in the air chamber into the air flow velocity and produces electricity from the driving force of turbine as represented by the Wells turbine. Therefore, in order to obtain high electric energy, it is necessary to amplify the water surface vibration by inducing resonance of the piston mode in the water surface fluctuation in the air chamber. In this study, a new type of OWC-WEC with a seawater channel is used, and the wave deformation by the structure, water surface fluctuation in the air chamber, air outflow velocity from the nozzle and seawater flow velocity in the seawater channel are evaluated by numerical analysis in detail. The numerical analysis model uses open CFD code OLAFLOW model based on multi-phase analysis technique of Navier-Stokes solver. To validate model, numerical results and existing experimental results are compared and discussed. It is revealed within the scope of this study that the air flow velocity at nozzle increases as the Ursell number becomes larger, and the air velocity that flows out from the inside of the air chamber is larger than the velocity of incoming air into the air chamber.