• Journal of the Korean Society of Mechanical Technology
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• v.13 no.3
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• pp.7-16
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• 2011

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot's posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot's posture and payload change. That's why the moments $M_x$, $M_y$ and $M_z$ working on every joint of a robot vary with robot's posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot's posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot's posture and payload through neural network learning.

• Journal of Oriental Neuropsychiatry
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• v.34 no.4
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• pp.385-401
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• 2023

Objectives: To review clinical research trends of herbal medicine treatment for alcohol use disorder. Methods: Three domestic databases and eight foreign databases were used to search for published articles by November 1, 2023 in each database. A total of 9 studies were included. Results: There were eight randomized control studies and one non-randomized control study. All randomized control studies were designed with 2-arm paralleled. The non-randomized control study was designed with 2-arm crossover. The most commonly used prescriptions were Kudzu extract capsules and Seoganhaeul capsules. The most used herbs were Puerariae Radix, Hyperici Perforati Herba, and Acanthopanacis Senticosi Radix et Rhizoma seu Caulis. Conclusions: Traditional herbal medicine might be effective in alleviating drinking behavior, physical problems, and psychological problems of patients with alcohol use disorder. However, the limited number of included studies suggests that further methodologically rigorous research studies on herbal medicine treatment for alcohol use disorder are needed in the future.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.115.3-115
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• 2002

To improve the performance of the tracked vehicle system, we examined the feasibility of using the preview control for the tracked vehicles suspension system. We proposed a method to apply a linear optimal preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the trailing arm suspension, we classified these as unknown dynamics and disturbances. We used the Time Delay Control(TDC) method to make sprung mass dynamics follow that of linear preview controlled tracked vehicle model by compensating the uncertainties and disturbances. We have verified by the computer simulation that the proposed method shows good robus...

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.32-36
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• 1988

Generally, for nonlinear control of robotic system, the method of computed torque or inverse dynamics is frequently used. In this case, exact knowledge of the system parameters is required, however. This paper addresses the problem of nonlinear control when the parameter of system is varied. The approach is based upon decoupled model following. As an example, control of a three degree of freedom manipulator arm under mass variation is simulated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.355-355
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• 2000

The position control accuracy of a robot manipulator is significantly deteriorated when a long arm robot is operated at a high speed. This paper presents a very simple sliding mode control which eliminates multiple mode residual vibration in a 개bot manipulator. The neural network is used to avoid that sliding mode condition is deviated due to the change of system parameter and disturbance. This paper is suggested control system which designed by sliding mode controller using neural network. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Proceedings of the KIEE Conference
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• 1983.07a
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• pp.141-142
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• 1983

• 전자공학회논문지 IE
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• v.43 no.4
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• pp.28-36
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• 2006

In this paper, an algorithm to classify the 4 motions of arm and a control system to position control the prosthesis are studied. To classify the 4 motions, we use flex sensors which is electrical resistance type sensor that can measure warp of muscle. The flex sensors are attached to the biceps brchii muscle and coracobrachialis muscle and the sensor signals are passed the sensing system. 4 motion of the forearm - flexion and extension, the pronation and supination are classified from this. Also position of forearm is measured from the classified signals. Finally, A two D.O.F prosthesis arm with RC servo-motor is designed to verify the validity of the algorithm. At this time, fuzzy controller is used to reduce the position error by rotary inertia and noise. From the experiment, the position error had occurred within about 5 degree.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.4 no.3
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• pp.301-306
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• 2003

We have designed embedded web server system and ported Linux operating system version 2.4.1 at our system. And then We implemented to control and monitor widely separated hardware. Web server is the Boa web server with General Public License. We designed for this system using of Cirrus logic's EP7312 ARM core base processor and connecting input and output device at GPIO port of EP7312. Device driver of General purpose I/O for Linux OS is designed. And then the application program controlling driver is implemented to use of common gate interface C language. User is available to control and monitor at client PC. This method have benefit to reduce the Expenditure of hardware design and development time against PC base system and have various and capacious application against firmware base system.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.8 no.2
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• pp.172-188
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• 2001

Purpose: The purpose of this research was to test the effectiveness of the nursing intervention, mutual goal setting, for patients who have had a mastectomy. Special reference was given to King's goal attainment theory and a theoretical framework for establishing an effective nursing strategy to enhance patient recovery is suggested. Method: This research employed a quasi-experimental design which consisted of pretest-posttest non-equivalent control and experimental groups. Data were collected from 37 patients who had a mastectomy and were hospitalized in the Department of Surgery of Y Medical Center from January 2001 to May 2001. The experimental group received the nursing intervention, mutual goal setting four times from the day before the operation to the fifth day after the operation while the control group received only routine nursing care. As postoperative recovery indicators, ROM of arm joints, arm circumference, pain, physical symptoms, oxygen saturation stress, anxiety and body image were measured. Result: The test results are as follows : 1) there were statistically significant differences between the experimental and control groups in extension and internal rotation of the shoulder Joint and flexion of the wrist joint. 2) there was no significant difference between the two groups in arm circumference. 3) there were no significant differences between the two groups in pain, physical symptoms, or oxygen saturation. 4) there were no significant differences between the two groups in stress, anxiety, or body Image. On the basis of research results, the following are recommended : 1) The effectiveness of nursing intervention in the acute recovery period as well as long term effects need to be investigated. 2) There is a need to develop an instrument to measure perception which facilitates goal attainment in the interactive setting between patients and nurses.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.2
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• pp.100-106
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• 2014

Lower control arm (LCA) is a part of chassis in automotive. Performances of LCA such as stiffness, durability and permanent displacement must be considered in design optimization. However it is hard to consider different performances at once in optimization because these are measured by different commercial tools like Radioss, Abaqus, etc. In this paper, firstly, we construct the integrated design automation system for LCA based on Matlab including Hypermesh, Radioss and Abaqus. Secondly, Akaike information criterion (AIC) is used for assessment of reliability of LCA. It can find the best estimated distribution of performance from limited and discrete stochastic information and then obtains the reliability from the distribution. Finally, we consider tolerances of design variables and variation of elastic modulus and achieve the target reliability by carrying out reliability-based design optimization (RBDO) with the integrated system.