• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2509-2512
• /
• 2005

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed inkjet printer. The proposed scheme estimates the impact position and compensates it by control of the fire strobe time based on the dynamic equations describing the moving trajectory of the ink droplet. Compared to the conventional fire strobe control which is based on the simple synchronization the fire strobe with the position signal of the inkjet nozzle, the proposed control scheme provides more accurate impact position control during the carrier is moving with accelerated or decelerated speed as well as constant speed. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.7
• /
• pp.650-657
• /
• 2006

The LPMS (Loose Part Monitoring Systems) are used widely for detecting the impact position in the nuclear reactor. There are some major methods to detect impact position in LPMS such as the triangular method, the rectangular method, the circular intersection method and so on. The time difference of these methods are calculated using S0-mode and A0-mode waves of each sensor. In this paper, we propose a method to detect impact position using the enveloped waves of acquired signals. The result of this paper show that the position detecting accuracy and reducing the processing time are proposed method is improved than traditional methods.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.3
• /
• pp.388-397
• /
• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.15 no.8
• /
• pp.1727-1734
• /
• 2011

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed ink jet printer. The proposed scheme estimates the impact position and compensates it by control of the jet strobe time based on the dynamic equations describing the moving trajectory of the ejected ink droplet. Compared to the conventional jet strobe control which is based on the simple synchronization with the position signal of the ink jet nozzle, the proposed control scheme provides more accurate impact position control while the carrier is moving with accelerated or decelerated speed as well as steady state speed with fluctuations. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.272-275
• /
• 1997

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.

• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.81-88
• /
• 2006

Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.

• Journal of Auto-vehicle Safety Association
• /
• v.10 no.3
• /
• pp.32-37
• /
• 2018

Recently, the driver can be assisted by the advanced active safety devices such as ADAS from road traffic risks. With this system, driver and passenger may freed from can driving tasks or kept eyes on forward direction while on the road. Help from adoptive cruise control, auto parking and newly develped automated driving vehicles technologies, the driver positions will vary significantly from the current standard driver position during the travel time. On this hypothesis, the objective of this study is analyze the behavior and injuries of drivers in the event of frontal impact under these abnormal driver position. Based on the KNCAP frontal impact testing method, this simulation matrix was set-up with dummies of 5 th tile female Hybrid III dummy and 50 th tile male Hybrid III dummy. The small sedan type passenger car was modeled in this simulation. The series of simulation was performed to compare the injuries and behaviour of each dummy, varying the seating status and seat position of each dummy.

• Journal of the Korean Home Economics Association
• /
• v.32 no.5
• /
• pp.109-124
• /
• 1994

The present study was conducted to elucidate the relationship between parent's verbal control modes and children's social competency. Two questionanires were developed by the authors for this study. The questionnaire for measuring parent's verbal control modes was composed of 84 and 87 items for mother and father, respectively, which assesses three types of verbal control modes; imperative control position-oriented control and person-oriented control. The questionnaire for measuring children's social competency perceived by mothers was composed of 27 items, which assesses four areas of social competency; initiative sociability responsibility and self-disclosure. the subjects of this study were 436 mothers and their children of fifth and sixth grade in elementary schools located in Seoul. The results of this study were as follows: 1) Parents control their children mostly by position-oriented mode and least by imperative mode. 2) There were significant correlations between father's verbal control mode and children's social competency. children's social competency was related positively to the person-oriented and position-oriented modes but negatively to the imperative mode. The best variables explaining boy's social competency were father's imperative and position-oriented modes whereas that for girl's was position oriented mode. 3) Mother's verbal control mode was not significant in explaining children's social competency. 4) The negative impact of father's imperative mode in combination with the mother's person-oriented mode on the children's social competency was greater than other combinations of father's and mother's verbal control modes.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.4
• /
• pp.49-58
• /
• 2003

In this study, the equation of motion of impacting elastic structures was derived through the theory, and the shape control of impact force using correlations of the dynamic characteristics and impact force history between two elastic structures was accomplished. Through numerical analysis and experiments, the classical contact mechanisms were verified, and the effects of the relative motion between impactor and elastic structure on the impact force shape were studied, and then the shape change of impact force depending on the impact position and mode shape of cantilever beam were analyzed. The 2-DOF impactor was designed and used. Reconstruction characteristics of impact force in cantilever beam were reviewed .

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.172-178
• /
• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.