• Journal of Navigation and Port Research
• /
• v.34 no.10
• /
• pp.735-740
• /
• 2010

This paper focuses on the effects of hydrodynamic forces between overtaking and overtaken vessels moving under the influences of external forces, such as strong wind and current in shallow water, in which condition the ship handling may become very complex. The purpose of this paper is to develop a guideline for safe conducting distance between two ships according to the velocity and the significance of external disturbances.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.12
• /
• pp.78-84
• /
• 2009

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.

• Journal of Power System Engineering
• /
• v.12 no.2
• /
• pp.55-61
• /
• 2008

This paper discusses the advantages of using Fourier-based periodic excitation and of combining internal and external models in dynamic robot parameter identification. Internal models relate the joint torques or forces with the motion of the robot; external models relate the reaction forces and torques on the bedplate with the motion data. This combined model allows to combine joint torque/force and reaction torque/force measurements in one parameter estimation scheme. This combined model estimation will yield more accurate parameter estimates, and consequently better predictions of actuator torque, which is shown by means of a simulated experiment on a CRS A465 industrial robot.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.9 no.1
• /
• pp.163-170
• /
• 2001

In this paper, a massless link model transmitting external forces is developed to achieve the numerical efficiency in simulation of vehicle suspension systems. Forces acting on links are resolved and transmitted to attached points with a quasi-static assumption. Also, a theoretical derivation and computer implementation of a massless link with bushing elements are proposed. In the massless link with bushing elements, one end is connected to the adjacent body with bushings and the other end is connected with a spherical joint. The deformation of a massless link with bushing elements is theoretically determined by minimizing the potential energy function with quasi-static equilibrium assumption at each time step. Several simulations with a full vehicle model are carried out to compare the efficiency of the developed massless link component. From the results, it is concluded that the proposed approach can reduce the computational time considerably.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.768-773
• /
• 2004

Developed in this paper a mass-spring engine to represent and manipulate deformable objects. The deformable object model is a basic technology in the ‘Tangible Space Initiative’. The mass-spring model consists of structural, shear and bending springs. Various forces like external, friction, gravity, spring, and damping forces are considered and collision with planes and spheres are treated. When a sphere collide mass-spring model, mass-spring engine calculates external force to interface mass-spring model. A prototype system is implemented in C on an MS windows machine.

• Journal of KSNVE
• /
• v.7 no.3
• /
• pp.377-386
• /
• 1997

A cantilever type piezoceramic vibration sensor was developed that could make up for the short-comings of current vibration sensors, such as high price, low sensitivity, and complex structure. For the design, in conjunction with piezoelectric constitutive equations, we derived full analytic response equations of the piezoelectric bimorph sensor to external forces. The external forces were supposed to take the form of either step or sinusoidal force. Based on the results, actual piezoelectric vibration sensors were fabricated and tested for verification of the theoretical results. Further, comparison of the performance of the developed sensor was made with that of a commercially available representative vibration sensor so that quantitative evaluation of its sensitivity could be made. The sensor developed in this work showed excellent sensitivity and thermal stability in addition to the merits of simple structure and low fabrication cost in comparison with conventional mass-loaded piezoelectric sensors.

• Journal of Ocean Engineering and Technology
• /
• v.2 no.1
• /
• pp.95-105
• /
• 1988

This paper describes the development of a reliability-based optimum design technique for such three dimensional tubular frames as off shore structures. The objective function is formulated for the structural weight. Constraints that probability of failure for the critical sections does not exceed the allowable probability of failure are set up. In the evaluation of the probability of failure, fatigue as well as buckling and plasticity failure are taken into account and the mean-value first-order second-moment method(MVFOSM) is applied for its calculation. In order to reduce the computing time required for the repeated structural analysis in the optimization process, reanalysis method is also applied. Application to two and three dimensional simple frame structures is performed. The influence of material properties, external forces, allowable failure probabilities and interaction between external forces on the optimum design is investigated.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.16 no.6
• /
• pp.779-788
• /
• 2013

The load requirements should be known to design mechanical structure. This paper proposes a generation method of load requirements using U.S. military specification to design the external mounting structure of the helicopters of which the flight environments such as aerodynamic forces and inertia forces are unknown. In this study, the load requirements which were applied at the design of the pod structure for helicopter captive flight test could be computed by using this method. The validation of proposed method was confirmed from the test flight using developed pod system.

• Journal of Advanced Marine Engineering and Technology
• /
• v.18 no.4
• /
• pp.25-32
• /
• 1994

This paper presents a robust impedance controller design to coordinate a robot manipulator under system uncertainties while regulating external forces. By an impedance approach, the relationship between the motion and external forces is defined. Due to the system uncertainties, two kind of sliding mode control schemes based on the impedance approach are derived to ensure that the manipulator end-effector follows a desired trajectory and the force applied to end effector is regulated according to a target impendance. A stability condition is shown according to a sliding condition. To evaluate the devised control scheme, a numerical example is shown.

• 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.