• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.51.6-51
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• 2001

We propose a new compliance control algorithm, which is different from previous compliance control methods in that it employs equal or more actuators than the number of the required compliance elements in operational space. The proposed compliance control algorithm ensures precise force and position control. The validity has been shown both theoretically and experimentally.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• 한국정보시스템학회지:정보시스템연구
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• 제27권4호
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• pp.97-114
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• 2018

Purpose Compliance support system (CSS) aims to support employees' voluntary compliance activities, however, it requires a different approach from the acceptance of other general information systems. In other words, the user's concern that his/her compliance activities recorded in the system are monitored may hinder the active use of the system. In this regard, we set up a research model to investigate the factors that affect the intention to use CSS, by including perceived usefulness, compliance commitment, and surveillance concern. Design/methodology/approach A questionnaire survey was conducted for the employees of a domestic oil-company, who operates their own CSS. Based on the 865 data collected, a structural model analysis using PLS was conducted. As a result, all four hypotheses were accepted. It was found that perceived usefulness of CSS has a positive effect on the intention to use CSS. Compliance commitment has a positive effect both on perceived usefulness and intention to use CSS. In contrast, surveillance concern of one's non-compliance recorded in the CSS was shown to have a negative effect on the relationship between compliance commitment and perceived usefulness. Findings This study has academic implications in that it extends the viewpoint of the existing technology acceptance mechanism by examining the two aspects, i.e., compliance commitment and surveillance concern. This study may also provide practical directions to strengthen the use of the active compliance support system by the employees.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 춘계학술대회 논문집
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• pp.395-400
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• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deformable structures. In this work, we propose another type of assembly devices which generate the compliance effects by attaching the compliances (or spring) at the joints of the given mechainsm. The compliance models are derived for a serial-type, parallel-type, and hybrid-type mechanisms, respectively. In particular, a planar three-degree of freedom parallel structure is shown to have RCC points at the center of the workspace for its symmetric configuratings.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.910-914
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• 2007

In this paper, an experimental study is performed to adjust position of compliance center of Elastomer Shear Pad Remote Center Compliance (ESP RCC) device, which is used on precise peg in hole process. In the study, variation of the lateral/axial stiffness of the ESP is proposed as a control parameter to adjust the position of compliance center of the ESP RCC. The variation of the stiffness of the ESP is achieved by controlling the shear stress of the ESP. To control the shear stress of the ESP, position of top side of the ESP is changed while remaining bottom side of the ESP is fixed on the RCC plate. To evaluate effect of the proposed idea, stiffness variations of the ESP on various shear stresses are measured, and variation of the compliance center is measured with the ESP RCC that can control the position of compliance center by using the shear stress. The measured data shows unique characteristics that have not been shown in other types of ESP VRCCs.

• 통상정보연구
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• 제10권3호
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• pp.239-261
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• 2008

Documentary credit transactions are judged by the principle of strict compliance. The compliance of the tendered documents with the credit's teams ensures the proper completion of the underlying transaction. But if the documents tendered by beneficiary differ, a discrepancy of documents occurs. Such a discrepancy raises difficult problems for the bank to which the documents are tendered. It has to decide whether to reject or accept them or to accept them under a protective mechanism. Therefore, this study is to examine the case study of complying presentation of the description of the goods in documentary credit through the Korean Supreme Court Cases. The objectives of this paper are as follow : 1. To examine two point of views on document compliance such as strict compliance and substantial compliance. 2. To analyze Korean Case Law which challenges the legal conclusions, standard for examination of documents and New ISBP. 3. To draw out the criterion for conformity and discrepancy of description in invoices and WC and to provide the guidelines for determining the nature and extent of an issuing bank's duty of documentary compliance. 4. Finally to suggest some implications through the Korean case law. By using the examination standards for description of goods suggested in Korean Case Law and New ISBP, the traders will be able to prepare documentation more perfectly and document checkers will be able to examine the negotiation documents more easily.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2009년도 추계학술대회 논문집
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• pp.284-284
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• 2009

The LED of cultivation edible plants was compliance the variable of the photo-receptor pigment with the red light source and ultra red light source from long wave region. The mechanism of cultivation edible plants for each part was necessary the wavelength unit which is appropriate, the illuminant source, motor control and lens design of LED light source about plant. The photo-receptor pigment induces for a long daytime recognition, seed germination and anthesis etc, induction years exists in the state which is an inactivity within the cells and in compliance with the red light source to be converted in active

• 로봇학회논문지
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• 제11권1호
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• pp.26-32
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• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• 대한기계학회논문집A
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• 제30권2호
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• pp.128-134
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• 2006

Topology optimization is an effective scheme to obtain the initial design concept: however, it is hard to apply in case of non-linear or multi-objective problems. In this study, a modified topology optimization method is proposed to generate a structure of a swing arm type actuator satisfying maximum compliance as well. as maximum stiffness using the multi-objective optimization. approach. The multi-objective function is defined to maximize the compliance in the direction of focusing of the actuator and the second eigen-frequency of the structure. The design of experiments are performed and the response surface functions are formulated to construct the multi-objective function. The weighting factors between conflicting functions are determined by the back-error propagation neural network and the solution of multi-objective function is acquired using the genetic algorithm.

• 대한기계학회논문집A
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• 제31권4호
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• pp.441-450
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• 2007

In this study, a 3-DOF XYZ micro parallel manipulator utilizing compliance mechanism is developed and analyzed. In so doing, a matrix method is used to rapidly solve displacements of the designed kinematic structure, and then kinematic characteristics of the developed manipulator are analyzed. Finally, the design analysis of the kinematic characteristics by changing hinge thickness and structure to improve workspace and translation motion is performed to show that the performance of the developed manipulator is relatively superior to the other similar kind of manipulators.