• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.4
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• pp.648-655
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• 2007

Nowadays, to realize ubiquitous computing environment, many research activities have been going on within various kinds of research domains including automatic identification sensor network, home network, telematics and so on. Especially, RFID middleware that supports the aggregation of RFID tag data, control and management, and the integration with legacy systems has recently gained a lot of attention. Meanwhile, EPCglobal defined an ALE(Application Level Events) standard specification, which exists between RFID readers and applications, and substitutes the previous systems called Savant. In the specification internal structures and implementation technologies of ALE are not mentioned and only external interfaces are defined. This approach easies the verification of standard compliance and inter-operability of the layer. In this paper, we present the design of ALE-compliant RFID middleware systems that process RFID tag data efficiently.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.341-345
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• 2001

Recently, many examples of practical applications of the motors with reluctance torque, such as IPMSM, RM, etc. are reported. However, the problems of the torque ripple produced by the IPMSM, are also presented. The main reasons of the torque ripple generation are the structural imperfectness of the IPMSM and its control system, such as the cogging torque of the motor, the dead time of inverter, sensors offset, imbalance and non-linearity, and so on. In this paper, authors propose a suppression control method of the torque ripple for IPMSM utilizing the repetitive control with the Fourier transformer and a vibration signal detected by an acceleration sensor attached to the motor frame, considering periodicity of the motor torque ripple. An experimental system to simulate the compliant mechanical frame is constructed, and the effectiveness of the proposed method is confirmed by experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Journal of Families and Better Life
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• v.32 no.2
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• pp.13-26
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• 2014

The theory of planned behavior proposed by Ajzen predicts that certain behaviors are determined by behavioral intentions which are affected by an attitudinal belief toward the behavior, the subject norms, and the individual's perception of their control over the behavior. This study's aim is to examine consumers' inappropriate complaint behaviors, using the theory of planned behavior. Consumers' inappropriate complaint behaviors are defined by two types, which are low -and high-intensity inappropriate complaint behavior based on the primary data collected from a group of consumer affairs professionals in the business field. The survey questionnaire was administered to 1,000 consumers via an on-line survey. The two models were assessed with path analysis in order to predict consumers' inappropriate complaint behaviors, using the theory of planned behavior. The results are as follows: First, two types of inappropriate compliant behaviors were identified according to the results of an exploratory study conducted by professionals who had been employed at the department of consumer affairs. Second, the theory of planned behavior is adequately fitted to examine the factors related to consumers' inappropriate complaint behaviors. Also, all three variables based on the theory of planned behavior, -perceived behavior control, subjective norm, and attitude-had a significant effect on inappropriate complaint behavior intention. Third, consumers' inappropriate complaint behavior intention played the most significant role in low-intensity inappropriate complaint behavior, whereas attitude was found to play a significant role in high-intensity inappropriate complaint behavior. The significance and implication were discussed in terms of effective customer management strategies.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1271-1279
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• 2004

A new bio-mimetic actuator is proposed. The actuator realizes bidirectional actuation since it is with a stretched film antagonistically configured with compliant electrodes. Also, it is distinguished from existing actuators with respect to the controllability of its compliance. Bidirectional actuation and compliance controllability are important characteristics for the artificial muscle actuator and the proposed one accomplishes these requirements without any mechanical substitute or complicated algorithms. In this paper its basic concepts and working principles are introduced with static and dynamic analysis. Control strategies for displacement as well as stiffness are introduced and experimental results are given to confirm the effectiveness of the proposed methods. In addition, an example of robotic actuating devices is given to confirm the usefulness of the proposed actuator.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.228-230
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• 2004

ZigBee Alliance is a network designed for low-cost and very low-power short-range wireless communications. The ZigBee Alliance is a consortium formed by several leading semiconductor and industrial manufactures, and end users. One of the tasks of this organization is the definition of the networking support and applications profiles that will use IEEE Std 802.15.4-compliant transceivers. In the case of IEEE Std 802.15.4, the ZigBee Alliance is an organization that has led the development of the upper layers, through the definition of application profiles. We have implemented ZigBee home control system, however we have not fully implemented. Because of the ZigBee is not perfectly standarded. We will have to implement according to ZigBee Specifications.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.130.6-130
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• 2001

On-Board diagnostic systems are installed in passenger cars and light trucks on today. During the 1970's and early 1980's manufacturers started using electronic means to control engine functions and diagnose engine problems. This wa primarily to meet EPA emission standards. The CARB requires that, by model year 1996, all vehicle sold in California contain a certain minimum "On-Board Diagnostic" capability to diagnose emissions-related failures of the engine control system. These diagnostic requirements have been designated as OBD with a goal of monitoring all of the emissions-related components on-board the vehicle for proper operation. Part of the intent of CARB´s OBD program is that a single diagnostic tester can be used to read the diagnostic information from any OBD-compliant vehicle. A tester which ...

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.973-980
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• 1988

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with the environment. In part 1, we focus on the input ouput relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot(or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to any design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.328-330
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• 1994

The Ultrasonic motor(USM) has many good characteristics such as high torque at low speed range, large holding torque based upon frictional force, high speed response, flexible free ferns, compactness in size, low magnetic noise and silentness in motion. Because of having low speed rotation, USM is good as an actuator of a small size direct drive (DD) manipulator. The acturators for the DD manipulators must have good controllability on the speed and torque from zero to maximum value continuously. New method was developed for speed and torque control by the phase difference control of the two-phase driving signals of the motor. Then rule adjustable compliant and dumped motion was realized on the output shaft of the motor by PD control of the output shaft angle.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1513-1519
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• 2000

This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. 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. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.