• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.1
• /
• pp.100-107
• /
• 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.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.15 no.1
• /
• pp.460-465
• /
• 2014

The Financial Supervisory Institution constantly has tightened the regulation for secure electronic financial service. Information Security Consulting and Service companies are not enough to cover about 4,500 financial institutes required to comply with the regulation, and the Financial Supervisory Institution also suffers from work overload. The demand for real-time work of risk management is getting stronger. Compliance with the regulation has to be attempted with technical approach so that requirement, implementation, monitoring, and supervision are efficiently performed. And, articles have to be concluded with compliance management service. In this research used compliance management framework and IT GRC process model, have to be designed compliance management lifecycle and 34 index.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.1
• /
• pp.101-108
• /
• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• Journal of Distribution Science
• /
• v.17 no.11
• /
• pp.35-45
• /
• 2019

Purpose: The purpose of this study is to suggest strategic implications about empirical analysis with mediation effects of corporate image in terms of that relations between logistics culture safety, safety compliance and logistics performance of logistics companies. Research design, data and methodology: The structure and method of this research is organized with, first establishing hypothesis and research model based on previous study related to safety culture, safety compliance, corporate image, logistics safety and logistics performance, which has been carried out survey questionnaire to those who got involved in logistics businesses. Results: It is well justified that safety culture and safety compliance have significantly influenced to logistics performance as well as corporate images that is also revealed to have positive impact to logistics performance. With results verifying into mediation effects of corporate image, it is found that corporate image has partial mediation effects between logistics safety culture and logistics performance, and corporate image has full mediation effects between logistics safety compliance and logistics performance. Conclusions: In conclusion, it is strongly asked to make an aggressive efforts to safety compliance with necessity for spread of safety culture in level of enterprise. Planning the strategy and its implementation is required to secure safety in logistics process because both logistics performance and corporate image has positive influences by logistics safety.

• Journal of Digital Convergence
• /
• v.10 no.4
• /
• pp.23-35
• /
• 2012

The goal of this study is to identify factors that influence on the persistent information security compliance intention of employees. Antecedents suggested in research model are security awareness training and perceived effectiveness of information security policy. Research results show that security awareness training has a positive effect on persistent information security compliance intention as well as effectiveness of information security policy. While policy breadth, which is one of the effectiveness of information security policy, influences on persistent information security compliance attitude and intention, policy brevity does not effect on persistent information security compliance intention. Conclusions and implications are discussed.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.8
• /
• pp.188-195
• /
• 2004

In this paper we analyzed the mechanical behavior with respect to the thickness variation of elastic foundation(fatty tissue) in end-to-end anastomosis. This study considered the preliminary deformed shape induced by suturing in the anastomosis of coronary artery and PTFE with different diameters using simplified suturing model and the fatty tissue surrounding heart and coronary artery for more accurate result using finite element method. Area compliance(CA) was used to analyze the final deformed shape of the anastomotic part with respect to the thickness variation of fatty tissue under mean blood pressure, 100mmHg(13.3㎪). And Equivalent and circumferential stresses in the anastomosis were also analyzed with respect to the change of initial diameter ratio( $R_1$) and fatty tissue thickness( $T_{F}$). The results obtained were as follows : 1 When the elastic foundation, assumed to be incompressive material, surrounded the grafts in anastomosis, the compliance mismatch of artery and PTFE was reduced by 47 -72%. 2. As the initial diameter ratio( $R_1$) became larger, the higher difference of compliance was induced in spite of elastic foundation surrounding grafts. 3. The maximum nondimensional circumferential stress is twice or three times as high as the maximum nondimensional equivalent stress in the anastomotic part.t.

• Proceedings of the KSME Conference
• /
• 2001.06a
• /
• pp.877-882
• /
• 2001

A finite element analysis of end-to-end artery/PTFE anastomosis has been presented in this study to evaluate the distribution of compliance and stresses in the vicinity of the anastomosis due to any mismatch in compliance characteristics. The artery wall was assumed to be made of linear isotropic material in this simplified model and a nonlinear analysis and convergency study with respect to increasing meshed element numbers were performed with a mean artery pressure loading of the artery-PTFE model. Also, sub-modeling method was introduced to progress the accuracy of the finite element analysis. The results are as follow : 1. A hypercompliant zone on the artery side was observed around 4.0mm from the anastomosis and a high hoop stresses in the wall of artery and PTFE was dominent. 2. An artery displays large deformation so that nonlinear analysis and sub-modeling method was used. 3. An anastomosis with the thinner thickness and larger diameter PTFE (C type) could reduce the compliance disagreement.

• Transactions of Materials Processing
• /
• v.21 no.7
• /
• pp.420-425
• /
• 2012

A new model is suggested for the prediction of radial displacements of a roll in order to analyze multi-high rolling mills. The model was developed from predictions based on finite element simulations. This model utilizes the compliance coefficient, which is expressed as a function of three dimensionless parameters, and is approximated by using the same interpolation function as used in the finite element method. The prediction accuracy of the model is demonstrated through comparison with the predictions from the FE model.

• Korean Journal of Food Science and Technology
• /
• v.24 no.2
• /
• pp.165-170
• /
• 1992

The creep behavior of gels made with $30{\sim}45%$ gelatinized rice starch was measured over a wide range of temperature. Compressive creep curves of rice starch gels conformed to a six element mechanical model consisting of one Hookean, two Voigt and one Newtonian component. The creep compliance of gels decreased with increasing starch concentrations. Among viscoelastic constants of the mechanical model, elastic modulus was mainly influenced by the change of starch concentrations. The concentration-invariant compliance curve was obtained by reduction to 38% using reduction parameter $a_{c}$. The creep compliance curves of 45% starch gels increased with temperature, which indicated that rice starch gels became softer and less rigid with increasing temperature. When the compliance at $20^{\circ}C$ was set as a reference curve, creep compliance data for 45% gels at various temperature could be superimposed as a continuous smooth curve. The apparent activation energies of 45% rice starch gels calculated by the modified WLF equation were not intrinsic, but decreased as temperature increased.

• International Journal of Automotive Technology
• /
• v.6 no.6
• /
• pp.599-604
• /
• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.