• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.211-218
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• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• 한국전산유체공학회:학술대회논문집
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• 2005.10a
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• pp.235-238
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• 2005

The unsteady supersonic flow over two- and three-Dimensional cavities has been analyzed by the integration of unsteady Reynolds-Averaged Navier-Stokes(RANS) with the k - w turbulence model. The unsteady flow is characterized by the periodicity due to the mutual relation between the shear layer and the internal flow in cavities. Numerical method is upwind TVD scheme based on the flux vector split with the Van Leer limiters, and time accuracy is used explicit 4th stage Runge-Kutta scheme. Cavity flows are Comparison of two- and three-dimensional. The cavity has a L/D ratio of 3 for two-dimensional case. and same L/D and W/D ratio is 1 for three-dimensional case. The Mach and Reynolds numbers are held constant at 1.5 and 450000 respectively. For the three-dimensional case, the flow field is observed to oscillate in the 'shear layer mode' with a feedback mechanism that follow Rossiter's formula. On the other hand, the self-sustained oscillating flow transitions to a 'wake mode' for the two-dimensional simulation, with more violent fluctuations inside the cavity.

• Journal of computational fluids engineering
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• v.10 no.4 s.31
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• pp.51-58
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• 2005

The unsteady supersonic flow over two- and three-dimensional cavities has been analyzed by the integration of unsteady Reynolds-Averaged Navier-Stokes(RANS) with the k-$\omega$ turbulence model. The unsteady flow is characterized by the periodicity due to the mutual relation between the shear layer and the internal flow in the cavity. An explicit 4th order Runge-Kutta scheme and an upwind TVD scheme based on the flux vector split with the van Leer limiters are used for time and space discritizations, respectively. The cavity has a L/D ratio of 3 for two-dimensional case, and same L/D and W/D ratio of I for three-dimensional case. The Mach and Reynolds numbers are 1.5 and 450000 respectively. In the three-dimensional flow, the field is observed to oscillate in the 'shear layer mode' with a feedback mechanism that follows Rossiter's formula. In the two-dimensional simulation, the self-sustained oscillating flow has more violent fluctuation inside the cavity. The primary fluctuating frequencies of two- and three- dimensional flow agree very well with the 2nd mode of Rossiter's frequency. In the three-dimensional flow, the 1st mode of frequency could be seen.

• Proceedings of the Korean System Dynamics Society
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• 1999.08a
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• pp.105-132
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• 1999

If a system such as a port has a large boundary and complexity, and the system's substance is considered as a black box, forecast accuracy will be very low. Furthermore various components in a port exert significant influence on each other. To copy with these problem the form of structure models were introduced by using SD method. The Competitive Ports Model had several sub-systems consisting of each Unit Port models, and each Unit Port model was made by quantitative, qualitative factors and their feedback loops. The fact that all components of one port have influence on the components of the other ports should be taken into account to construct Competitive Port Models. However, with the current approach that is impossible, and in this paper, therefore, models were simplified by HFP adapted to integrate level variables of unit port models. Although many studies on modelling of port competitive situation have been conducted, both theoretical frame and methodology are still very weak. In this study, a new algorithm called ESD(Extensional System Dynamics) for the evaluation of port competition was presented, and applied to simulate port systems in northeast Asia.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.10-17
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• 2016

In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.

• Journal of the Korean Society for information Management
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• v.20 no.3
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• pp.129-153
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• 2003

This study is to develope the usability evaluation criteria for improving quality of user services in digital library website. It compared and analyzed major eight studies concerning usability evaluation of library website in foreign and domestic. This paper was suggested 36 items of evaluation criteria that are belongs to six domain(quality of links, feedback mechanism, accessibility, design, navigation and searching). Usability evaluation criteria for digital library websites suggested in this paper is a item-based level, and to observe generally.

• The Korean Nurse
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• v.32 no.1
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• pp.47-60
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• 1993

This study was performed to develop the conceptual framework of the nursing productivity. The study efforts were made (1) to define the concept the nursing productivity, (2) to identify the elements of the productivity, and (3) to determine the relationship among the elements. With the aim, the study employed a descriptive analysis by way of reviewing various references related w the subject. The nursing productivity consists of such elements as the nursing efficiency and Lhe nursing effectiveness which are complememary Lo each other. The nursing efficiency is the quantative input/output ratio, while the nursing effectiveness represents the integrated outcome of sch sub-elements as the degree of accomplishing nursing goals, the quality of nursing service, consumer's satisfaction, and the degree of improvement of nurse's attitude toward the quality care. The nursing prodiccivity can be estimated by summing up the nursing efficiency and the effectiveness. By employing the system theory model, the elements of the nursing producTivity consist of three elements; the input, the process, and the output. By the process elements, the system inputs are transformed to the system outputs nursing efficiency and nursing effecitveness which are input 1.0 the system, in turn, through feedback mechanism(Figure 4).

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.6
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• pp.987-991
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• 2011

In this paper, a health care system is implemented which can identify the parameter for moving body after exercising based on home network. This system has catched a signal for physical condition of body data using data acquisition mechanism such as a data acquisition module, a data signal processing module and a feedback module. The composition has a functions of displacement point for a BMI and WDI, that the basic parameter measure to base on the heart rate, temperature. There are checked physical condition of body exercising to compounded a physical condition of sensory organ. There are to keep the lookout for the body condition that to estimate a health care with a physical organ through a exercise.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• Journal of the Korean Institute of Telematics and Electronics
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• v.21 no.4
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• pp.78-83
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• 1984

A method is proposed for the adaptive control of linear time varying discrete systems. The stability problem of the model reference adaptive control systems is considered by means of the properties of hypergtability, The hyperstability approach also allows for solutions to the adaptation mechanism. Employing the principles of the continuous time case with output feedback renders it to the discrete case which simplified the system design. The system response is obtained by applying the ramp and step input as a reference signal to the system respectively. With checking the adaptation time for ramp and step input the validity of proposed algorithm was confirmed by the computer simulation.