• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.82-87
• /
• 2023

This paper proposes a disturbance observer-based control for 6-DOF remotely operated underwater vehicles with model uncertainties. The sum of external disturbance and the forces generated from model parameters except for the inertial matrix of the hydrodynamic model is defined as a lumped disturbance in this paper. Then, the lumped disturbance caused by model uncertainties and the external forces is estimated using the disturbance observer. Fortunately, the disturbance observer is constructed as a linear form because all the elements of the inertial matrix of the hydrodynamic model are constants. To verify the proposed control scheme, we show that the actual lumped disturbance is similar to the estimated lumped disturbance obtained by the disturbance observer. Finally, the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1424-1429
• /
• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Journal of Navigation and Port Research
• /
• v.39 no.5
• /
• pp.385-391
• /
• 2015

In offshore, various external forces such as wind force, tidal current and impulsive breaking wave force act on offshore wind tower. Among these forces, impulsive breaking wave force is especially more powerful than other forces. Therefore, various studies on impulsive breaking wave forces have been carried out, but the soil reaction are incomplete. In this study, the p-y curve is used to calculate the soil reaction acting on the offshore wind tower when an impulsive breaking wave force occurs by typhoon. The calculation of offshore wind tower against impulsive breaking wave force is applied for the multi-layered soil. The results obtained in this study show that although the same wave height is applied, the soil reaction generated by impulsive breaking wave force is greater than the soil reaction generated by wave force.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.10
• /
• pp.887-898
• /
• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Structural Engineering and Mechanics
• /
• v.33 no.6
• /
• pp.709-724
• /
• 2009

In this paper a free-free uniform beam with damping effects subjected to follower and transversal forces at its end is considered as a model for a space structure. The effect of damping on the stability of the system is first investigated and the effects of the follower and transversal forces on the vibration of the beam are shown next. Proportional damping model is used in this work, hence, the effects of both internal (material) and external (viscous fluid) damping on the system are noted. In order to derive the frequency of the system, the Ritz method has been used. The mode shapes of the system must therefore be extracted. The Newmark method is utilized in the study of the system vibration. The results show that an increase in the follower and transversal forces leads to an increase of the vibrational motion of the beam which is not desirable.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.95-100
• /
• 2006

A ship collision avoidance system is developed to control the avoidance action of ship actually and properly in wind forces. The 4-DOF maneuvering equations of motion ar derived to catty out the simulation of the motion of a ship, and the wind forces are considered as the external forces in the simulation. This study suggests a new avoidance system that could include the ship's maneuvering characteristics.

• Journal of the Korea Computer Industry Society
• /
• v.8 no.3
• /
• pp.181-186
• /
• 2007

The movement in the closed system's internal and external, consists of linear open motion and linear closed motion, as well as non-linear motion and non-linear closed motion. When the linear closed motion receives external forces such as friction, closed motion is activated. It explains that even closed rotating systems that are subjected to external forces such as friction becomes a confined rotating system. Through fluid experiments the closed rotating system and confined system's quantitative data was observed and closed rotating system was confirmed to formulate the computer simulation function model concerning closed motion and confined motion. A basic graphic configuration of the motion device is also introduced.

• Journal of Drive and Control
• /
• v.13 no.3
• /
• pp.32-38
• /
• 2016

For this paper, the position-control performances of dual EHA(electro-hydrostatic actuator) systems were investigated according to two cases wherein the double-rod- and single-rod-type hydraulic cylinders were combined. Since the control performance is significantly dependent on the load conditions including external forces such as the inertia load, it is proposed here that the two sub-EHAs are driven by separate position and force controllers, instead of two identical position controllers. According to the simulation results, the best performance was achieved by the position-controlled single-rod-type EHA that was combined with a force-controlled double-rod-type EHA. As the force-controlled double-rod-type EHA compensated for the external loads on the position-controlled single-rod-type EHA, the position-control performance was not influenced by external forces including the inertia load. In addition, the position-controlled single-rod-type EHA contributed to the enhancement of the damping ratio by absorbing the pressure peaks through its internal accumulator. Due to the symmetrical piston areas, the double-rod-type EHA is more suitable for force control than the single-rod- type EHA.

• Journal of Biosystems Engineering
• /
• v.30 no.5 s.112
• /
• pp.280-284
• /
• 2005

Front the production on the farm to the consumer, agricultural products are subject to various physical treatments involving mechanical techniques and devices. It is essential to understand the physical laws governing the response of these biological materials so that the machines, processes, and handling operations can be designed fur maximum efficiency and the highest quality of the end products. A compression test system was developed to test the physical properties of fruits including apple, pear, and peach which may lead to a better understanding of the physical laws. The test system consisted of a digital storage oscilloscope and simple mechanism which can apply quasi-static compression to fresh fruits. Rupture force, energy, and deformation were measured at the five levels of compression speed from 1.25 to 62.5 mm/min for each internal and external tissues. Rupture forces for apple and pear were in the range of 42.2 to 46.2 N and 38.8 to 41.2 N for external and infernal tissues, respectively. Rupture forces fir peach external tissues were in the range of 48.2 to 54.0 N.

• Proceedings of the Korean Vacuum Society Conference
• /
• 2010.02a
• /
• pp.49-49
• /
• 2010

Nanopiezotronics is an emerging area of nanotechnology with a variety of applications that include piezoelectric field-effect transistors and diodes, self-powered nanogenerators and biosystems, and wireless nano/biosensors. By exploiting coupled piezoelectric and semiconducting characteristics, it is possible for nanowires, nanobelts, or nanorods to generate rectifying current and potential under external mechanical energies such as body movement (handling, winding, pushing, and bending) and muscle stretching, vibrations (acoustic and ultrasonic waves), and hydraulic forces (body fluid and blood flow). Fully transparent, flexible (TF) nanogenerators that are operated by external mechanical forces will be presented. By controlling the density of the seed layer for ZnO nanorod growth, transparent ZnO nanorod arrays were grown on ITO/PES films, and a TF conductive electrode was stacked on the ZnO nanorods. The resulting integrated TF nanodevice (having transparency exceeding 70 %) generated a noticeable current when it was pushed by application of an external load. The output current density was clearly dependent on the force applied. Furthermore, the output current density depended strongly on the morphology and the work function of the top electrode. ZnO nanorod-based nanogenerators with a PdAu, ITO, CNT, and graphene top electrodes gave output current densities of approximately $1-10\;uA/cm^2$ at a load of 0.9 kgf. Our results suggest that our TF nanogenerators are suitable for self-powered TF device applications such as flexible self-powered touch sensors, wearable artificial skins, fully rollable display mobile devices, and battery supplements for wearable cellular phones.