• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.138-144
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• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• Journal of Korean Society for Atmospheric Environment
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• v.25 no.2
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• pp.99-107
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• 2009

This paper reviews the current status of mercury research on exposure and contamination, mercury emissions, emission limits and control technologies, long-range transport and deposition research, and mercury management policy in Korea. According to a monitoring of the Ministry of Environment and the Ministry of Health and Welfare, blood mercury levels among Koreans are $5{\sim}8$ times higher than those of U.S. and Germany. The most dominant source of exposure to mercury is through dietary intake. Emissions of mercury from coal-fired power plants are estimated 8.93 ton/year in 2004. Emissions of mercury from other important sources, such as waste incineration, steel and cement manufacturing and non-ferrous metal smelting operations are to be further investigated. A study on long-range transport of mercury suggests that the dry deposition flux over the Yellow Sea was much greater than those for other oceans. As a whole, the amounts of wet depositions of nitrogen and sulfur were 1.9 and 1.5 times larger than the amounts of dry depositions in each species, respectively. Substantial influence from China caused by high emissions in East China and westerly wind was possibly suggested. However, the influence from nitrogen emission in Korea was also confirmed. Korean Government has already adopted stringent emission limits on mercury for incinerators and boilers in 2005. However, emission limits for coal-fired power plants and non-ferrous metal smelters are rather relaxed. As the above mentioned two sources can be two most important sources of mercury emissions, control strategy for those sources are to be considered.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.891-895
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• 1988

We discuss what kind of scale is suitable for analog signal recording paper from the viewpoint of human engineering. We show a method for automatically generating a suitable scale from the higher and lower limits of the recording range.

• Proceedings of the Korean Statistical Society Conference
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• 2003.10a
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• pp.97-103
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• 2003

Shewhart-type control charts have historically been used for attribute data, though they have ARL biased property and even are unable to detect the improvement of a process with some process parameters. So far most efforts have been made to improve the performance of attribute control charts in terms of faster detection of special causes without increasing the rates of false alarm. In this paper, control limits are proposed that yield an ARL (nearly) unbiased chart for attributes. Optimal design is also proposed for attribute control charts under a natural sense of criterion.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.20 no.41
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• pp.135-145
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• 1997

The statistical approach to quality control aims at alerting its user to any variations in the properties of a manufactured product. Motorola developed and pursued a quality management program called six sigma. The goal of six sigma programs is to improve customer satisfaction through reducing and eliminating defects. six sigma uses several statistical measure to characterize defect levels and process capabilities. The upper and lower specification limits are $\pm6\sigma$(sigma) from nominal, and the process mean is centered at nominal. only 0.002PPM are outside specification limits. Cp=2. this is the design target in a six sigma program. This article presents an important tool available for quality control of a production process at the occurrence of defects in manufactured products at view low levels to improve the efficiency of the manufacturing productivity and to satisfy customer through the reduction of defect rates. To understand the consequences of the level of quality on competitive position, a more technical perspective is needed.

• Journal of the Korean Statistical Society
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• v.23 no.2
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• pp.403-420
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• 1994

An economic design of the $\bar{X}-R$ chart using variable sample size (VSS) scheme is proposed in this paper. In this design the sample size at each sampling time changes according to the values of the previous two sample statistics, sample mean and range. The VSS scheme uses large sample if the sample statistics appear near inside the control limits and smaller sample otherwise. The set of process parameters, such as the sampling interval, control limits and the sample sizes, are chosen to minimize the expected cost per hour. The efficiency of the VSS scheme is compared to the fixed sample size one for cases where there is multiple of assignable causes. Percent reductions of the expected cost in the VSS design are calculated for some given sets of cost parameters. It is shown that the VSS scheme improves the confidence of the procedure and performs statistically better in terms of the number of false alarms and the average time to signal, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.35 no.2
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• pp.106-112
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• 2012

Real-life time series characteristic data has significant amount of non-stationary components, especially periodic components in nature. Extracting such components has required many ad-hoc techniques with external parameters set by users in case-by-case manner. In our study, we evaluate whether Hilbert-Huang Transform, a new tool of time-series analysis can be used for effective analysis of such data. It is divided into two points : 1) how effective it is in finding periodic components, 2) whether we can use its results directly in detecting values outside control limits, for which a traditional method such as ARIMA had been used. We use glass furnace temperature data to illustrate the method.

• The Journal of Korean Physical Therapy
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• v.17 no.3
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• pp.351-367
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• 2005

The purpose of this study was to identity effects of virtual reality(VR) program related to standing postural control on balance, gait and brain activation patterns in chronic hemiplegic stroke patients. Subjects were assigned randomly to either VR group (n=12) or the control group (n=12) when the study began. Both groups received conventional physical therapy for 2 to 3 times per week. In addition to conventional physical therapies, VR group trained 3 types of virtual reality programs using IREX for standing postural control during 4 weeks (4 times/week, 30 minutes/time). Subjects were assessed for static and dynamic balance parameters using BPM, functional balance using Berg Balance Scale related to movement of paretic lower limb before and after 4 weeks of virtual reality training. The results of this study were as follows. 1. Following VR training, VR group demonstrated the marked improvement on dynamic mean balance, anteroposterior limits of stability (AP angle) and mediolateral limits of stability (ML angle). 2. Following VR training, both groups scored higher on Berg Balance Scale. However, a comparison of mean change revealed differences between groups. In conclusion, these data suggest that the postural control training using VR programs improve dynamic and functional balance performance in chronic hemiplegic stroke patients.

• Journal of Korean Society for Quality Management
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• v.30 no.4
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• pp.86-93
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• 2002

There are many different factors used in calculating control limits of control chart for variable data. Specially these factors are divided into two groups such as "no given standard" and "given standard"(namely, for analysis and management), but many kind of factors give rise to confusion. Therefore, It is necessary to manifest relationships among factors for easy application regardless of subgroup size. Many SQC textbooks show us plainly these factors, but do not have enough for adequate explanation of relationships among factors. Besides, notation of these factors of SQC textbook isn't coincide with another one, so necessity to the coincidence for the notation of the factors is highlighted during my work recently. In this study, the close examination about relationships among various factors (A-A3, B3-B6, D1-D4, C4, d2, d3 etc) was carried out. Spread sheet results are presented for getting factors according to subgroup size, by grouping as the case of "no given standard" and "given standard". How are these factors to be applied in statistical package (ex, Minitab) have been analyzed using a series of sample data. analyzed using a series of sample data.