• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.560-563
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• 1997

The conventional impedance control has been known to have the following problems: it has lack of specifying force directly and unknown environment stiffness has to be known priori in order to specify the reference trajectory. In this paper, new impedance force control that can control a desired force directly under unknown stiffness is proposed. A new nonlinear impedance function is developed based on estimation of unknown stiffness from force and position measurements. The nonlinear characteristics of the proposed impedance function are analyzed based on unknown environment position. Simulation studies with robot manipulator are carried out to test analytical results.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.9
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• pp.423-429
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• 2001

This paper proposes adaptive impedance control algorithm using fuzzy inference when robot contacts with its environments. The characteristics of the adaptive impedance controller is to adapt with parametric uncertainty and nonlinear conditions. The control algorithm is to join impedance controller with fuzzy inference engine. The proposed control method overcomes the problem of impedance controller using gain-tuning algorithm of fuzzy inference engine. We implemented an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the adaptive fuzzy impedance controller to one-link root system, and it shows the good performance on regulating the interactive force in case of contacting with arbitrary environment.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.608-611
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for position and force control when robot contact with environment. Because Robot and environment was always effected by nonlinear conditions, it need to deal with parameter’s uncertainty. For solving this problem, it induced Fuzzy System in Impedance Control so fuzzy system is impedance’s stiffness gain. We apply adaptive fuzzy impedance controller in One-Link Robot System, it shows the good performance on desired position control and force control about contacting with arbitrarily environment.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.2174_2175
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• 2009

This Paper present about loop impedance characteristic based on korea internal electrical environment. Analysis parameters were touch voltage, electrical shock current and human body resistance. Result, For protect of electrical shock must measuring of loop impedance. And current capacity & loop impedance are must important parameters.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2819-2821
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.548-551
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• 1997

Performance of force tracking impedance control of robot manipulators is degraded by the uncertainties in the robot and environment dynamic model. The purpose of this paper is to improve the controller robustness by applying neural network. Neural networks are designed to learn the uncertainties in robot and environment model for compensating the uncertainties. The proposed scheme is verified through the simulation of 20DOF robot manipulator.

• Environmental Engineering Research
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• v.23 no.4
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• pp.383-389
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• 2018

Microbial fuel cell (MFC) is an innovative environmental and energy system that converts organic wastewater into electrical energy. For practical implementation of MFC as a wastewater treatment process, a number of limitations need to be overcome. Improving cathodic performance is one of major challenges, and introduction of a current collector can be an easy and practical solution. In this study, three types of current collectors made of stainless steel (SS) were tested in a single-chamber cubic MFC. The three current collectors had different contact areas to the cathode (P $1.0cm^2$; PC $4.3cm^2$; PM $6.5cm^2$) and increasing the contacting area enhanced the power and current generations and coulombic and energy recoveries by mainly decreasing cathodic charge transfer impedance. Application of the SS mesh to the cathode (PM) improved maximum power density, optimum current density and maximum current density by 8.8%, 3.6% and 6.7%, respectively, comparing with P of no SS mesh. The SS mesh decreased cathodic polarization resistance by up to 16%, and cathodic charge transfer impedance by up to 39%, possibly because the SS mesh enhanced electron transport and oxygen reduction reaction. However, application of the SS mesh had little effect on ohmic impedance.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.12
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• pp.1199-1205
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• 2012

An empirical acoustic impedance model of acoustic resonators with extended neck at a high sound pressure environment is proposed. The acoustic resonator with extended neck into its cavity is appropriate for the launcher fairing application because the length of neck does not increase the total height of the resonator. This enables one to design slim and light acoustic resonators for launch vehicles. The suggested acoustic impedance model considers the incident pressure and geometric variables(the neck length, the perforation ratio and the hole diameter) in terms of non-dimensional variables. Several acoustic resonators with extended neck are manufactured and their wall impedances are measured according to the pre-defined incident pressure levels. Effects of non-dimensional variables on the non-linear acoustic impedance are investigated so that a simple non-linear impedance model for the launcher fairing application can be proposed. It is demonstrated that the estimated acoustic resistance and acoustic length correction show reasonable agreement with the measured ones within the range of design parameters for launcher fairings.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.8-11
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• 1996

In impedance control for contact force tracking it is well known that the reference trajectory of the robot is calculated from known environment stiffness. The accuracy of estimating the environment stiffness determines the performance of the resulting force tracking. Here we present a simple technique, called the trajectory modification technique(TMT), of determining the reference trajectory under the condition that the environment stiffness is unknown. Computer simulation studies have shown that force tracking using the proposed technique is excellent for unknown environment with time varying stiffness.