Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

Wet clutches in an automatic transmission enable the transmission of the engine power by the frictional torque experienced and noted between disk and plates. Since the clutch frictional torque considerably affects the shift quality of an automatic transmission as well as the durability of the machinery, its friction characteristics must be carefully examined to meet the design requirements. The SAE No. 2 friction test machine is a well-known standard to evaluate mainly the friction characteristics of plate clutches along with the required automatic transmission fluids. This paper reviews the experimental analysis of the wet clutch friction characteristics by using the exclusively developed clutch test machine which is capable of controlling the clutch test procedure, in accordance with the applicable test standard and processing of the experimental data automatically. As the clutch test machine is designed for the accommodation of dual clutches which is applied to the real transmission, it can evaluate not only the clutch friction characteristics, but also an actuation performance of a measured clutch piston. In respect to friction characteristics involving dynamic friction coefficients, the energy absorbed in a clutch disk and the recorded temperatures of clutch plates during braking actions and procedures are also investigated. Additionally, the change of friction coefficients by the use of the repeated clutch application is also observed with the endurance test functions of an accurately calibrated and dedicated clutch test machine.

We propose a tension controller based on a time-delay estimation (TDE) technique for a winding machine. Firstly, we perform the necessary calculations to derive a mathematical model of the winding machine. In this sense, it is revealed that the roll radius of the winding machine is characteristically seen to be increasing or decreasing during the winding process. That being said, it is noted that the parameters of the winding machine are coupled and constantly changing during this process. Understandably then, it is noted that the model is shown to be nonlinear and time-varying. Secondly, we propose the way to apply the TDE based controller which is the so-called Time-delay Control (TDC). The TDC utilizes the time-delayed information intentionally to compensate the nonlinear and time-varying characteristics. As we have seen, the proposed controller consists of two parts: one is a TDE component, and the other is an error dynamics component which is defined by a user. In a computer simulation based on the Matlab/Simulink program, the proposed controller is compared with a conventional PID controller, which is widely used in the tension control of the winding machine. The proposed controller reduces the incidence of overshoot and steady-state error in the tension control, as compared to the conventional PID controller.

This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.

Agricultural tractors require frequent shifting to improve operation efficiency, and PST (Powershift Transmission) is considered as a suitable transmission. However, due to the inherent characteristics of the PST, shocks arise during shifting, which imparts a negative effect on the operator. Therefore, in order to improve the transmission performance of the tractor PST, researches on various methods including the hydraulic system circuit, the engine input speed control, and the mechanical system of the transmission are steadily being conducted. In this study, in order to reduce the impact of PST on a shift based on SimulationX software, we analyzed the characteristics of the input signal of PCV (Pressure Control Valve) through sensitivity analysis and verified the simulation model through actual vehicle test. Optimization was performed for minimizing the shift shock for some of the parameters of the input signal at constant temperature and RPM conditions.

The hydraulic control valve, used in the CPB (cold-pad-Batch) cold dyeing system, passes through a pressurized material that absorbs the dye. The hydraulic control of the hydraulic control panel shall be driven in a uniform and precisely controlled manner, as it interferes directly with the dyschromatism. In this study, an acceleration test model was employed to verify the durability of the hydraulic control of the hydraulic control panel, which was manufactured by the scenic model, and the pre-roll angle was analyzed before the performance of acceleration test. Based on the change in the amount of deformation of the padder roll the durability of the padder roll was analyzed along with verification of the durability of the skin and the rubber coating in contact with the fabric. Furthermore, the accelerated test method used for hydraulic controlled multi-cell padder rolls was verified.

Construction machinery is used to improve productivity in civil engineering work and construction work, and it is a lengthy operation, and consumes considerable fuel to cope with large loads. As a result, productivity and fuel consumption of the construction machine become the main deciding factors. In the hydraulic system of the excavator, the main control valve is the most critical position for control. The flow distribution for control performance is achieved by the metering orifice, that causes critical energy loss. To improve this, we propose a combination of a three port proportional pressure reducing valve and a poppet type flow control valve as an IMV to replace the existing spool type MCV. To validate the proposal, we analyze static characteristics by modeling mathematically, and analyze dynamic characteristics. Simulation using the AMESim software on the regeneration circuit of the boom cylinder up-down operation, verifies the energy-saving effect compared to the existing MCV when IMV is used.