• 대한기계학회논문집A
• /
• 제30권10호
• /
• pp.1187-1193
• /
• 2006

Traditionally, the continuum-based topology optimization methods employing the SIMP technique have been used to design compliant mechanisms. Although they have been successful, the optimized mechanisms by the methods are usually difficult to manufacture because of their geometrical complexities. The objective of this study is to develop a topology optimization method that can produce easy-to-fabricate mechanism structure. The proposed method is a ground beam method where beam connectivity is controlled by the beam joint stiffness. In this approach, beam joint stiffness determines the mechanism configuration. Because b the ground structure beams have uniform thicknesses varying only discretely, the resulting mechanism topologies become easily manufacturable.

• Journal of Electrical Engineering and Technology
• /
• 제10권4호
• /
• pp.1915-1920
• /
• 2015

ISO 26262 is an international standard for the functional safety of electric and electronic systems in vehicles, and this standard has become a major issue in the automotive industry. In this paper, a functional safety compliant electronic control unit (ECU) for an electric power steering (EPS) system and a demonstration purposed EPS system are developed, and a software and hardware structure for a safety critical system is presented. EPS is the most recently introduced power steering technology for vehicles, and it can improve driver’s convenience and fuel efficiency. In conformity with the design process specified in ISO 26262, the Automotive Safety Integrity Level (ASIL) of an EPS system is evaluated, and hardware and software are designed based on an asymmetric dual processing unit architecture and an external watchdog. The developed EPS system effectively demonstrates the fault detection and diagnostic functions of a functional safety compliant ECU as well as the basic EPS functions.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.119.2-119
• /
• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• 전자공학회논문지SC
• /
• 제37권5호
• /
• pp.22-33
• /
• 2000

고감속비의 관절을 갖는 고하중 조작기를 원격조작 힘반영 제어시스템의 슬레이브 조작기로 사용할 경우에는 마스터 조작기에 비하여 느린 동특성으로 인해 슬레이브 조작기의 제어입력에 포화가 빈번히 발생한다. 슬레이브 조작기가 유연성을 갖도록 설계한 경우에도 제어입력이 포화되면 위치제어루프가 끊어지기 때문에 시스템이 불안정해지고 슬레이브 조작기가 물체에 강하게 접촉하는 경우가 발생하며, 유연한 힘제어 성능을 얻는데 어려움이 있다. 본 논문에서는 고하중 원격조작기에 대해 제어입력의 포화를 고려한 힘반영 유연성 제어기법을 제안한다. 제안하는 힘반영 유연성 제어기법은 제어입력의 포화를 가지는 원격조작기에 대하여 안정한 힘반영 성능과 함께 정밀한 위치제어와 유연성제어 성능을 얻을 수 있다는 장점이 있다. 제안한 제어기법의 안정도를 해석하였고 실험을 통하여 성능을 검증하였다.

• 로봇학회논문지
• /
• 제17권3호
• /
• pp.339-346
• /
• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• 제어로봇시스템학회논문지
• /
• 제15권8호
• /
• pp.798-803
• /
• 2009

This paper proposes a grating scanner which is driven by a stack-type piezoelectric element. The mechanism of the grating scanner is based on flexure hinges. Using some constraints, the compliant mechanism is designed and then verified by Finite Element Analysis. The designed compliant mechanism is manufactured by wire electro-discharge machining, and then integrated with a stack-type piezoelectric element for actuation and a capacitance displacement sensor for measuring ultra-precision displacement. Experiments demonstrates the characteristics and the performances of the grating scanner using the terms of working range, resonance frequency, bandwidth and resolution. The grating scanner is applicable to a Moire interferometry for measuring 3-dimensional microscopic surface.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.1006-1013
• /
• 1988

We have shown how unstructured modeling was used to derive a general stability condition in Part 1. In Part 2, we focus on the particular dynamics (structures modeling) of the robot manipulator and environment. Using rigid body dynamics, the stability condition for the direct drive robots has been achieved in terms of the Jacobian and robot tracking controller. Combining the structured and unstructured modeling, a stability condition for a particular application can be obtained. This approach has been used to analyze compliant motion on the University of Minnesota robot using a feedforward torque controller. We have obtained a stability condition for this application. Through both simulation and experiment, the sufficiency of this condition has been demonstrated. For a sufficient stability condition, recall that if the condition is satisfied, then the stability is guaranteed; however, if the condition is violated, no conclusion can be made.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2012년도 춘계학술대회 논문집
• /
• pp.293-294
• /
• 2012

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2013년도 춘계학술대회
• /
• pp.590-592
• /
• 2013

UPnP(Universal Plug & Play) A/V(오디오/비디오) 표준을 준수하는 기기들을 이용하여 제로 구성(zero-configuration)으로 멀티미디어 홈 네트워크를 쉽게 구축할 수 있다. 그러나 UPnP 인증을 받은 제품이라 할지라도 UPnP의 모든 기능이 구현되어있지 않거나 코덱 호환성이 확인되지 않기 때문에 구입 시 사용하고자 하는 제품들의 상호호환성 여부를 확인할 수 없는 문제점이 있다. 본 논문에서는 이러한 문제점을 해결하고자 사용하고자 하는 UPnP의 기능정보(capability)를 저장하고 관리하는 휴대용 컨트롤 포인트(control point)의 구현 방안을 제시한다. 휴대용 컨트롤 포인트를 통해 사용하고자 하는 기기와 호환성과 상호운용성이 가장 좋은 UPnP A/V 기기들을 찾을 수 있다.

• ETRI Journal
• /
• 제28권4호
• /
• pp.411-424
• /
• 2006

This paper presents a multimedia streaming platform for efficiently transmitting MPEG-4 content over IP networks. The platform includes an MPEG-4 compliant streaming server and client, supporting object-based representation of multimedia scenes, interactivity, and advanced encoding profiles defined by the ISO standard. For scalability purposes, we employ an application-layer multicast scheme for media transmission using overlay networks. The overlay network, governed by the central entity of the network distribution manager, is dynamically deployed according to a set of pre-defined criteria. The overlay network supports both broadcast delivery and video-on-demand content. The multimedia streaming platform is standards-compliant and utilizes widespread multimedia protocols such as MPEG-4, real-time transport protocol, real-time transport control protocol, and real-time streaming protocol. The design of the overlay network was architected with the goal of transparency to both the streaming server and the client. As a result, many commercial implementations that use industry-standard protocols can be plugged into the architecture relatively painlessly and can enjoy the benefits of the platform.