• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1779-1784
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• 1991

The problem of fine manipulation is considered in this paper. By fine manipulation, we mean the positioning of the object relative to the palm as opposed to gross manipulation by the arm. The compliance in the fingers and the object is modeled by linear springs. It is shown that the motion of the fingers and object can be predicted by minimizing a quadratic objective function. A method for simulating position control algorithms is developed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.902-907
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• 1993

An efficient dynamic control algorithm that outperforms existing local torque optimization techniques for redundant manipulators is presented. The method resolves redundancy at the acceleration level. In this method, a systematic switching technique as a trade-off means between local torque optimization and global stability is proposed based on the stability condition proposed by Maciejewski [1]. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.230-234
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• 1989

This paper presents the design of a prototype robot and architecture of a distributed control system. The robot, named as KAEROT, has been developed for the purpose of the reduction of personal radiation exposure and the remote maintenance tasks in nuclear facilities. The mobile system with robotic manipulator has been designed to go up and down stairs. For the dextrous handling, this manipulator will be designed as a redundant type to act like a human arm. Manipulator control system is to be extended easily for further usage with a modular architecture to get independency and reliability by minimizing EMI effects.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1755-1759
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• 2003

The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. The objective of this paper is to design each components and to construct boom, arm, bucket circuit. These models modeled with AMESim show us change of variables and behavior of excavator. Simulation model will be used for simulator of excavator.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.169-169
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• 2000

The modeling for the looper of a hot strip finishing mill to control the tension of the strip is presented. The looper is an arm pushing against the strip between stands in a tandem mill to keep the strip tension constant and to isolate the interactions of the adjacent stands. Tension is influenced by the difference in mass flow through the up stream and down-stream rolling stands. Tension is critical to strip quality, influencing width, gauge, and shape. This paper presents how looper angle and strip tension are controlled for a hot strip finishing mill.

• Journal of Space Technology and Applications
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• v.4 no.1
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• pp.27-47
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• 2024

In the New space era, satellites are being developed to perform on-orbit service (OOS) missions. Various missions for orbital service include failure repair, refueling, towing, component replacement, and space construction, and in order to do so, a robot arm payload must be mounted. Unlike conventional satellite payloads, the robot arm payload is not move in a fixed state, but is a payload that must move continuously to perform the mission. It is also characterized by the need to perform the mission while being directly exposed to outer space, rather than existing inside the structure of the satellite. Due to the characteristics of these payloads, thermal design and interpretation that can be operated smoothly in an extreme space thermal environment is essential, but there are not many papers on thermal design and interpretation of the robot arm. This paper introduces and summarizes cases of thermal design and interpretation of robot arm payloads developed so far, and finally, it intends to suggest directions for thermal design and interpretation of robot arm payloads to be developed in the future.

• Journal of Oriental Neuropsychiatry
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• v.9 no.1
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• pp.1-24
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• 1998

The effects of Hyungbangjiwhangrang on the enhancement of learning and memory of AD model rats were studied with Morris water maze and radial arm maze. Sample group was electrolytically lesioned on nbM, and then daily treated with the medicine for two months. Control group with nbM lesion, and sham group with the sham operation were treated the vehicle for same duration. The following results were observed.1. As the learning trials of Morris water maze processed repeatedly, sham group achiened 201.64${\pm}$33.13 seconds in 1st trial, 153.14${\pm}$61.80 seconds in 2nd, 106.21${\pm}$46.81 seconds in 3rd, 76.64${\pm}$48.40 seconds in 4th, and 52.29${\pm}$38.25 seconds in 5th. The control group achieved 224.08${\pm}$29.16 in 1st trial, 191.77${\pm}$67.97 seconds in 2nd, 177.77${\pm}$65.44 seconds in 3rd, 140.92${\pm}$68.27 seconds in 4th, and 126.46${\pm}$79.15 seconds in 5th. The sample group achieved 223.36${\pm}$23.33 seconds in 1st trial, 215.86${\pm}$38.93 seconds in 2nd, 190.79${\pm}$51.57 seconds in 3rd, 155.79${\pm}$62.67 seconds in 4th, and 127.93${\pm}$62.11 seconds in 5th. Therefore, these data shows that all three groups were improved in learning capacity as trials were repeated, but the shame group showed prominent improvement in learning compared with the control group(p<0.05).2. In memory retention test of Morris water maze that counts the staying time in the target area, sham group stayed for 15.36${\pm}$5.39 seconds, the control group stayed for 5.54${\pm}$5.64 seconds, and the sample group stayed for 7.43${\pm}$6.09 seconds. The analysis of the memory retention data shows that the sham group marked more significant improvement stati- stically in memory retention compared with the control group(p<0.05).3. In the learning of radial arm maze, the number and rate of animals that arrive the learning criteria amounted 12 out of 14, 85.7% in sham group, 4 out of 13, 30.8% in the control group, and 10 out of 14, 71.4% in the sample group So, the sample group shows better learning capacity significantly compared with the control group(p<0.05). With the experimental results above, Hyungbangjiwhangtang can be supposed to have the improving effects on the learning and memory of AD rats induced by eletronical injury of nbM.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.643-651
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• 2007

The various blood pressure simulators have been proposed to evaluate and improve the performance of the automatic sphygmomanometer. These have some problems such as the deviation of the actual blood pressure waveform, limitation in the blood pressure condition of the simulator, or difficulty in displaying the blood flow. An improved simulator using disturbance observer is proposed to supplement the current problems of the blood pressure simulator. The proposed simulator has an artificial arm model capable of feeding appropriate fluids that can generate the blood pressure waveform to evaluate the automatic sphygmomanometer. A controller was designed and thereafter, simulation was performed to control the output signal with respect to the reference input in the fluid dynamic model using the proposed proportional control valve. To minimize the external fluctuation of pressure applied to the artificial arm, a disturbance observer was designed on the plant. A hybrid controller combined with a proportional controller and feed-forward controller was fabricated after applying a disturbance observer to the control plant. Comparison of the simulations between the conventional proportional controller and the proposed hybrid controller indicated that even though the former showed good control performance without disturbance, it was affected by the disturbance signal induced by the cuff. The latter exhibited an excellent performance under both situations.

• Journal of Oriental Neuropsychiatry
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• v.9 no.2
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• pp.45-51
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• 1998

Purpose : This study has an experiment on finding how Hyangbujapamultang advanced the learning and memory of rat to find the method to improve the failure of memory which is the symptom of dementia.Method : In the experiment, rats were divided the control group (14 rat) which medicate the excipient into the sample group (17 rat) which medicates Hyangbujapalmutang. And the learning ability test and the memorv test was practiced to using the task of radial arm maze.The learning ability test had the presupposition that, when a rat which frequents 8 tracks makes am error not exceeding one time for 3 days without a break, it passes the test.First experiment compared total days when the control group passed the test with total days when the sample group it.The memory test practiced after 24 hours when the learning ability test was over. When a rat frequents 4 tracks, the gates is cut off during 30 seconds. Here the number of error at the control group with that of the sample group.Result: In the learning ability test, the sample group needed 5.82${\pm}$0.37 days to pass the test and the control group needed 6.43${\pm}$0.67 days. In the memory test, the sample group errored 0.29${\pm}$0.37 times and the control group errored 1.86${\pm}$0.78 times.Conclusion : In the learning ability test, the sample group passed the test earlier than the control group, but any statistical correlationship couldn't be found in it. In the memory test, the sample group had the pregnant reduction of the number of error in comparison with the control group.

• Safety and Health at Work
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• v.6 no.3
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• pp.159-173
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• 2015

The hand coordinate systems for measuring vibration exposures and biodynamic responses have been standardized, but they are not actually used in many studies. This contradicts the purpose of the standardization. The objectives of this study were to identify the major sources of this problem, and to help define or identify better coordinate systems for the standardization. This study systematically reviewed the principles and definition methods, and evaluated typical hand coordinate systems. This study confirms that, as accelerometers remain the major technology for vibration measurement, it is reasonable to standardize two types of coordinate systems: a tool-based basicentric (BC) system and an anatomically based biodynamic (BD) system. However, these coordinate systems are not well defined in the current standard. Definition of the standard BC system is confusing, and it can be interpreted differently; as a result, it has been inconsistently applied in various standards and studies. The standard hand BD system is defined using the orientation of the third metacarpal bone. It is neither convenient nor defined based on important biological or biodynamic features. This explains why it is rarely used in practice. To resolve these inconsistencies and deficiencies, we proposed a revised method for defining the realistic handle BC system and an alternative method for defining the hand BD system. A fingertip-based BD system for measuring the principal grip force is also proposed based on an important feature of the grip force confirmed in this study.