In this study, the experiment was conducted on a fire door(W × H = 0.98 m × 2.19 m) installed on the vestibule. The effective leakage area for each opening angles and closing forces derived from the impulse-momentum equation was compared and analyzed with the experimental results. As a result of the experiment, the major factors affecting the door closing forces were the pressure difference and the area of the door. The difference of door closing forces between measured and calculated values by the impulse-momentum equation showed a deviation of less than ±15% at the opening angles of 5°to 10°. At the door opening angle of 2.5°, the dynamic pressure was much higher than the measured static pressure, and this pressure difference is estimated to be air resistance acting to prevent the door from being completely closed.

케이블 구조물은 비교적 가볍고 넓은 공간의 형성이 쉬우나 유연한 특징으로 인해 형상의 제어가 매우 민감하다. 이런 구조물은 여러 이유에서 형상의 보정이 필요하며, 특히 부재 제어량과 어떠한 부재를 제어해야 하는가는 것은 많은 연구자들이 고심하고 있는 문제이다. 따라서 본 논문의 목적은 하중법(Force Method)를 이용해서 형상조절을 위한 변위 제어기법을 연구하는 것이다. 논문은 2장에서는 제어 방정식을 설명하고, 3장에서는 단순 케이블 넷 모델을 이용하여 동시 및 순차제어를 고려해 해석을 수행하고 결과를 고찰한다. 4장에서는 보다 더 복잡한 케이블 돔 구조물에 적용하여 가장 유용한 부재에 대해서 논의 하고, 5장에서 결과를 요약한다.

풍하중을 받는 구조물은 해석의 편의상 층당 3개의 자유도를 가지는 해석모델을 사용한다. 구조물의 입면 형상이 비정형이 되고, 평면내 구조재의 배치가 층에 따라 변경이 되면 각층의 질량중심과 강성중심의 차이에 의해서 병진방향상호간 또는 병진방향과 비틀림 방향이 상호연관되어 이에 따른 각 방향의 고유모드가 연계된 진동특성을 가지게된다. 본 연구에서는 풍하중에 의한 구조물의 응답에 가장 큰 영향을 미치는 저차의 3개의 병진-비틀림 모드가 연계된 구조물의 진동을 저감하기위한 능동제어기법에 대하여 다룬다. 이를 위하여 풍동실험으로부터 구한 각 방향 밑면 전도모멘트와 비틀림모멘트가 연계모드에 작용하는 모달풍하중으로 치환된 운동방정식을 유도하고, 운동방정식에 기반한 상태방정식을 통하여 제어력을 산정한다. 제어력 포화를 고려하여 위상분할 제어알고리듬과 H∞ 제어알고리듬이 합성된 새로운 제어알고리듬을 제안하였으며, 풍동실험을 수행한바 있는 대상구조물에 대해 수치시뮬레이션을 수행한 결과 기존 제어알고리듬인 LQR에 비해 대등한 제어효과를 가지면서 제어력의 크기를 줄일 수 있는 것을 검증하였다.

본 연구는 구조물의 정량적 강성설계 기법 개발, 즉 부재 단위의 강성 재설계를 통한 전역 자유도 변위의 정량적 조절 기법개발을 궁극적 목적으로 한다. 이를 위하여 본 연구에서는 전역 자유도에 대한 부재의 변위기여도계수와 내력기여도계수를 유도하고, 이를 이용하여 특정 변위를 정량적으로 예측, 제어할 수 있도록 부재 강성과 특정 변위간의 상관식을 유도 제시하였다. 간단한 예제 구조물의 해석과 제안식 적용을 통한 변위 예측값 사이의 비교를 통하여 제안식을 검증하였다. 정정구조물의 경우 본 상관식은 정해로서, 이를 이용하여 폭정 변위를 원하는 목표치로 정확하게 제어할 수 있으며, 부정정구조물의 경우에도 부재 내력 재분배에 의한 오차가 발생하기는 함에도 불구하고 각 부재 강성과 특정 변위간의 상관성과 경향을 제시함으로써 매우 유용하게 활용될 수 있다. 본 연구에서 제안하는 정량적 변위 제어 기법은 강성설계가 전체 설계 결과를 지배하게 되는 대 공간구조물 또는 초고층건물의 설계 시 유용할 것으로 기대된다.

제어효과가 탁월한 능동제어알고리듬의 하나인 슬라이딩 모드제어(SMC)는 지진력을 받는 구조물의 제어를 위해 매우 큰 크기의 제어력을 요구한다. 따라서, SMC의 설계에 있어 제어기의 포화문제는 반드시 고려되어야 한다. 본 논문은 설계응답스펙트럼에 따른 구조율의 복원력을 이용하여 제어기의 최대 제어력을 결정하는 방법을 제안한다. 한 개 혹은 다수의 제어장치를 설치한 다층건물의 수치해석 결과는 제안된 방법이 지진하중을 받는 구조물의 포화 슬라이딩모드제어에 유효함을 보며준다.

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

Experimental investigation of the tuned liquid column damper (TLCD) is a primal factory task prior to its installation at a site and is mainly undertaken by a real-time hybrid simulation. In this study, a noncontact standalone vision sensing system is developed to replace a series of the conventional sensors installed at the TLCD tested. The versatile measurements of the system is theoretically and experimentally evaluated through a wide range of lab scale dynamic tests.

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

When prestressing tendons are placed with non-equal prestressing forces, restoring forces(torsional moment and bimoment) are occurred. Restoring forces was derived based on the theorem of virtual work for the purpose of controlling the torsional rotation. Numerical analysis was carried out on the existing double-T beam to clarify that the torsional rotation could be controlled by restoring forces.

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

선박의 조종성능 향상을 위해 적용되고 있는 쌍동타의 유체력 평가를 위해 Re=1.5×104에서 쌍동타의 상 하부 러더 간격을 변화시켜 쌍동타 주위 유동을 계측하였다. 영각의 변화에 따른 쌍동타 주위에서 생성되는 와의 생성과 소멸 메커니즘을 이해하기 위해 속도 및 에너지 분포를 2-프레임 그레이레벨 상호상관 PIV기법을 이용하여 비교 분석하였다. 쌍동타의 상 하부 러더 간격 L=0.75C에서 물리적 한계영역으로 정의되었다.

선박에서 제어판의 역할은 운동을 제어하는데 목적이 있으며 이는 곧 조종성능을 결정하는 중요한 요소이다. 본 연구에서는 플랩타의 성능평가를 위하여 Re=3.0×104에서 영각에 대응하는 플랩각에 따른 속도 및 에너지 분포를 2-프레임 그레이레벨 상호상관 PIV기법을 이용하여 비교 분석하였다. 또한 영각 10도와 20도에서 전통적인 단동타의 유동특성과 비교하여 플랩타의 성능특성을 평가하였다. 영각 10도에서는 양력, 영각 20도에서는 항력에 의한 측압력을 향상시킬 수 있었다. 영각 10도에서 플랩조작만으로 박리점과 경계층영역의 변화가 가능하였다.

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.