• Title/Summary/Keyword: force feedback control

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Real-time model updating for magnetorheological damper identification: an experimental study

  • Song, Wei;Hayati, Saeid;Zhou, Shanglian
    • Smart Structures and Systems
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    • v.20 no.5
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    • pp.619-636
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    • 2017
  • Magnetorheological (MR) damper is a type of controllable device widely used in vibration mitigation. This device is highly nonlinear, and exhibits strongly hysteretic behavior that is dependent on both the motion imposed on the device and the strength of the surrounding electromagnetic field. An accurate model for understanding and predicting the nonlinear damping force of the MR damper is crucial for its control applications. The MR damper models are often identified off-line by conducting regression analysis using data collected under constant voltage. In this study, a MR damper model is integrated with a model for the power supply unit (PSU) to consider the dynamic behavior of the PSU, and then a real-time nonlinear model updating technique is proposed to accurately identify this integrated MR damper model with the efficiency that cannot be offered by off-line methods. The unscented Kalman filter is implemented as the updating algorithm on a cyber-physical model updating platform. Using this platform, the experimental study is conducted to identify MR damper models in real-time, under in-service conditions with time-varying current levels. For comparison purposes, both off-line and real-time updating methods are applied in the experimental study. The results demonstrate that all the updated models can provide good identification accuracy, but the error comparison shows the real-time updated models yield smaller relative errors than the off-line updated model. In addition, the real-time state estimates obtained during the model updating can be used as feedback for potential nonlinear control design for MR dampers.

Finite element analysis of peri-implant bone stresses induced by root contact of orthodontic microimplant (치근접촉이 마이크로 임플란트 인접골 응력에 미치는 영향에 대한 유한요소해석)

  • Yu, Won-Jae;Kim, Mi-Ryoung;Park, Hyo-Sang;Kyung, Hee-Moon;Kwon, Oh-Won
    • The korean journal of orthodontics
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    • v.41 no.1
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    • pp.6-15
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    • 2011
  • Objective: The aim of this study was to evaluate the biomechanical aspects of peri-implant bone upon root contact of orthodontic microimplant. Methods: Axisymmetric finite element modeling scheme was used to analyze the compressive strength of the orthodontic microimplant (Absoanchor SH1312-7, Dentos Inc., Daegu, Korea) placed into inter-radicular bone covered by 1 mm thick cortical bone, with its apical tip contacting adjacent root surface. A stepwise analysis technique was adopted to simulate the response of peri-implant bone. Areas of the bone that were subject to higher stresses than the maximum compressive strength (in case of cancellous bone) or threshold stress of 54.8MPa, which was assumed to impair the physiological remodeling of cortical bone, were removed from the FE mesh in a stepwise manner. For comparison, a control model was analyzed which simulated normal orthodontic force of 5 N at the head of the microimplant. Results: Stresses in cancellous bone were high enough to cause mechanical failure across its entire thickness. Stresses in cortical bone were more likely to cause resorptive bone remodeling than mechanical failure. The overloaded zone, initially located at the lower part of cortical plate, proliferated upward in a positive feedback mode, unaffected by stress redistribution, until the whole thickness was engaged. Conclusions: Stresses induced around a microimplant by root contact may lead to a irreversible loss of microimplant stability.

Deflection Limits based on the Vibration Serviceability of Guideway Structures Considering Maglev Train-Guideway Interaction (자기부상열차와 가이드웨이 상호작용을 고려한 가이드웨이 구조물의 진동사용성 처짐 한계)

  • Lee, Jin Ho;Kim, Sung Il
    • Journal of the Korean Society for Railway
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    • v.20 no.1
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    • pp.111-119
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    • 2017
  • In this study, deflection limits based on the vibration serviceability of guideway structures are proposed considering maglev train-guideway interaction. Equations of motion are derived for a simplified maglev railway. Feedback constants for the control of the electromagnetic force for levitation are optimized in order to minimize the airgap fluctuations. Deflection limits for a guideway are calculated for various operating speeds of a maglev train, span lengths of a guideway, and natural frequencies and damping ratios of the second suspension in order to satisfy the serviceability criteria for airgaps and for the vertical acceleration of a cabin. From the analysis results, proposed are requirements for the second suspension of maglev trains and deflection limits for guideway structures.

Effects of interface delay in real-time dynamic substructuring tests on a cable for cable-stayed bridge

  • Marsico, Maria Rosaria
    • Smart Structures and Systems
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    • v.14 no.6
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    • pp.1173-1196
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    • 2014
  • Real-time dynamic substructuring tests have been conducted on a cable-deck system. The cable is representative of a full scale cable for a cable-stayed bridge and it interacts with a deck, numerically modelled as a single-degree-of-freedom system. The purpose of exciting the inclined cable at the bottom is to identify its nonlinear dynamics and to mark the stability boundary of the semi-trivial solution. The latter physically corresponds to the point at which the cable starts to have an out-of-plane response when both input and previous response were in-plane. The numerical and the physical parts of the system interact through a transfer system, which is an actuator, and the input signal generated by the numerical model is assumed to interact instantaneously with the system. However, only an ideal system manifests a perfect correspondence between the desired signal and the applied signal. In fact, the transfer system introduces into the desired input signal a delay, which considerably affects the feedback force that, in turn, is processed to generate a new input. The effectiveness of the control algorithm is measured by using the synchronization technique, while the online adaptive forward prediction algorithm is used to compensate for the delay error, which is present in the performed tests. The response of the cable interacting with the deck has been experimentally observed, both in the presence of delay and when delay is compensated for, and it has been compared with the analytical model. The effects of the interface delay in real-time dynamic substructuring tests conducted on the cable-deck system are extensively discussed.

Design and Implementation of a Cohort for Quality Management of Medical Education: A Case Study from Konyang University College of Medicine (교육의 질 관리를 위한 의과대학 코호트 구축과 운영: 건양대학교 의과대학 사례)

  • Kyunghee Chun;Tae Hee Lee;Soojin Jung;Young-soon Park
    • Korean Medical Education Review
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    • v.25 no.2
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    • pp.102-108
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    • 2023
  • This study shares details on the operating process and results of the cohort of students and graduates that was designed and implemented at Konyang University College of Medicine in Daejeon and discusses future directions for cohort establishment and improvement. First, Konyang University College of Medicine established the necessity and defined the purpose of cohort design and implementation. A task force was formed to establish guidelines for analysis targets, procedures, reports, and data management, and cohort operation was classified as a quality control activity. Data were collected through surveys of current students and graduates, and data generated during the curriculum were collected, analyzed, and reported every 2 years. The cohort data collection and analysis methods are designed by the Department of Medical Education, and data collection is carried out by the administrative team and each committee. Data management and analysis are handled by the Center for Medical Education Support, and analysis and reporting are conducted by the Department of Medical Education. Various members of the medical school are working to collect and analyze data, report findings, provide feedback, and improve. In the future, we plan to advance database computerization and work toward more effective data analysis. Cohort operation should not be another burden for medical schools; instead, it is hoped that operating cohorts will be a meaningful activity to increase the effectiveness of medical education and help in the operation and policy decisions of medical schools.

Spray Modeling: An Augmented Reality Based Tangible 3D Modeling Interface (스프레이 모델링: 증강현실 기반의 실체적인 3차원 모델링 인터페이스 제안)

  • Jung, Hee-Kyoung;Nam, Tek-Jin
    • Archives of design research
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    • v.18 no.4 s.62
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    • pp.119-128
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    • 2005
  • This paper presents an intuitive 3D modeling interlace based on a field study and prototype development. The process and tools of modeling were observed in workshops of professional design model making, day modeling, wood caning and glass crafting. The Spray Modeling interlace was developed from the observational analysis of the field study. It is a 3D modeling interface which combines particle spraying and day modeling in Virtual or Augmented Reality space. Virtual volume particles are sprayed on frames in Augmented Reality space as day modeling. It adopts a real air spay gun as a tangible interface device which provides coherent sound and air-force feedback. The prototype development and a user study showed that the interface supports new patterns of form development and expression. Control interfaces and requirements of auxiliary devices were found to be improved. This study examines the potential of the new interlace for designers working in 3D virtual and augmented reality. The new spraying interface is also expected to be used as an alternative interface in 3D computer workspace, games, education software and media art.

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Semiconductor wafer exhaust moisture displacement unit (반도체 웨이퍼 공정 배기가스 수분제어장치)

  • Chan, Danny;Kim, Jonghae
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.16 no.8
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    • pp.5541-5549
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    • 2015
  • This paper introduces a safer and more power efficient heater by using induction heating, to apply to the semiconductor wafer fabrication exhaust gas cleaning system. The exhaust gas cleaning system is currently made with filament heater that generates an endothermic reaction of N2 gas for the removal of moisture. Induction theory, through the bases of theoretical optimization and electronic implementation, is applied in the design of the induction heater specifically for the semiconductor wafer exhaust system. The new induction heating design provides a solution to the issues with the current energy inefficient, unreliable, and unsafe design. A robust and calibrated design of the induction heater is used to optimize the energy consumption. Optimization is based on the calibrated ZVS induction circuit design specified by the resonant frequency of the exhaust pipe. The fail-safe energy limiter embedded in the system uses a voltage regulator through the feedback of the MOSFET control, which allows the system performance to operate within the specification of the N2 Heater unit. A specification and performance comparison from current conventional filament heater is made with the calibrated induction heater design for numerical analysis and the proof of a better design.