• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.996-1003
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• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• The Transactions of the Korea Information Processing Society
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• v.6 no.10
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• pp.2642-2648
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• 1999

This paper describes a DAVIC based VoD service system that allows access via the Web, taking advantage of the wide availability of Web browsers. A simple access mechanism of a DAVIC based VoD system, using a Web browser is adopted on the proposed system. The client and VoD server are compliant with DAVIC, a user can access the VoD server simply by selecting the Web server's address via a Web browser. A menu enables the user to select VCR-like buttons, to establish an S2 control flow and to send the commands contained in the buttons to the VoD server. A simple implementation shows the feasibility of the proposed approach.

• Journal of the Optical Society of Korea
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• v.12 no.4
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• pp.355-358
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• 2008

In the current GPON market and standard, the line bit rate requirement is changing from 1.25 Gbps to 2.5 Gbps. We fabricate a 2.5 Gbps burst-mode receiver with commercially available blocks and optimize it with an APD bias control. A burst-mode measurement setup is made for the full compliance test with the GPON standard. The device meets the partially defined 2.5 Gbps specs in the current ITU G.984.2 standard, also, supports 1.25 Gbps specs for the coexistence issue in an access network. The full-compliant measurement values can be used as a guideline for fixing "for further study" specs in the current GPON standard at 2.5 Gbps.

• Physical Therapy Rehabilitation Science
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• v.10 no.3
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• pp.251-256
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• 2021

Objective: The forward head posture (FHP) is strongly related to the rounded shoulder posture (RSP), which is associated with shoulder pain. Design: Observational cross sectional study design Methods: A total of 37 were enrolled in the study, 22 individuals with FHP(experimental group) and 15 healthy adults(control group). Correlation with differences between groups was analysed through craniovertebral angle (CVA) representing FHP for both groups, neck disability index (NDI) indicating neck pain, disability of the arm, shoulder and hand (DASH) indicating shoulder pain. Results: There was a significant difference in the results of CVA, NDI, and DASH in FHP and healthy adults (p<0.05). Significant correlations were found between DASH and CVA in FHP participants (r = -0.656, p = 0.001). Also, in the regression analysis results of DASH and CVA, the regression model was found to be suitable and the variation in DASH could be explained by 43% (F = 15.118, p = 0.001). Conclusions: Shoulder pain and neck discomfort are potentially related, and an increase in shoulder pain can increase FHP.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.524-530
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• 2015

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1409-1420
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• 2015

In this paper, an algorithm using two bi-quad filters to suppress the wide-band resonance for PMSM servo systems is proposed. This algorithm is based on the double bi-quad filters structure, so it is named, "double bi-quad filter." The conventional single bi-quad filter method cannot suppress unexpected mechanical terms, which may lead to oscillations on the load side. A double bi-quad filter structure, which can cancel the effects of compliant coupling and suppress wide-band resonance, is realized by inserting a virtual filter after the motor speed output. In practical implementation, the proposed control structure is composed of two bi-quad filters on both the forward and feedback paths of the speed control loop. Both of them collectively complete the wide-band resonance suppression, and the filter on the feedback path can solve the oscillation on the load side. Meanwhile, with this approach, in certain cases, the servo system can be more robust than with the single bi-quad filter method. A step by step design procedure is provided for the proposed algorithm. Finally, its advantages are verified by theoretical analysis and experimental results.

• Smart Structures and Systems
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• v.3 no.1
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• pp.89-114
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• 2007

Two aspects of the design of a small-scale smart wing are addressed in this work, related to the ability of the wing to modify its cross section assuming the shape of two different airfoils and to the possibility of deflecting the profiles near the trailing edge in order to obtain hingeless control surfaces. The actuation is provided by one-way shape memory alloy wires eventually coupled to springs, Shape Memory Alloys (SMAs) being among the most promising materials for this kind of applications. The points to be actuated along the profiles and the displacements to be imposed are selecetd so that they satisfactorily approximate the change from an airfoil to the other and to result in an adequate deflection of the control surface; the actuators and their performances are designed so that an adequate wing stiffness is guaranteed, in order to prevent excessive deformations and undesired airfoil shape variations due to aerodynamic loads. The effect of the pressure distributions, calculated by way of the XFOIL software, and of the actuators loads, is estimated by FE analyses of the loaded wing. Two prototypes are then realised incorporating the variable airfoil and the hingeless aileron features respectively, and the verification of their shapes in both the actuated and non-actuated states, supported by image analysis techniques, confirms that interesting results are achievable with the proposed lay out and design considerations.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.1
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• pp.1-10
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• 2017

Recently, with the ever-increasing complexity of industrial robot systems, it has been greatly attention to adopt a multi-core based motion controller with high cost-performance ratio. In this paper, we propose a software architecture that aims to utilize the computing power of multi-core processors. The key concept of our architecture is to use shared memory for the interplay between threads running on separate processor cores. And then, we have integrated our proposed architecture with an industrial standard compliant IDE for automatic code generation of motion runtime. For the performance evaluation, we constructed a test-bed consisting of a motion controller with Preempt-RT Linux based dual-core industrial PC and a 3-axis industrial robot platform. The experimental results show that the actuation time difference between axes is 10 ns in average and bounded up to 689 ns under $1000{\mu}s$ control period, which can come up with real-time performance for industrial robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• The korean journal of orthodontics
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• v.32 no.2 s.91
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• pp.71-78
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• 2002

It could be suggested that adult orthodontic patients may have peculiar psychological features as well as different periodontal tissue conditions compared with adolescent patients. The aims of the present investigation were to explore the relationships between psychological characteristics and treatment compliance of patient to orthodontist and assistants (dental hygienists). Two types of locus of control data (I-score, Internal locus of control score ; E-score, External locus of control score) were obtained for 312 adult patients and 765 adolescents and then analyzed in relation to their sex and treatment compliance. In general, orthodontic patients showed higher I-score trends than ordinary persons and adult patients manifested higher I-score than adolescent patients. Unlike adult patients, female adolescent patients showed higher I-score than male adolescent patients. Adult patients with higher E-score and adolescent patients with higher I-score than their counter-part subgroup were classified into more compliant group. Orthodontist performed more generous decision about patients' compliance than assistants. The results of this study also suggest that psychological survey in orthodontic field could comprise useful diagnostic criteria.