• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1080-1084
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• 1989

The motion of an workpiece to be manipulated is determined by the forces applied to the workpiece. During the contact between the robot hand and the workpiece, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. Therefore, one of the important problems in the robot hands is the control of the initial impact force. In this paper, the problem of the force control of robot hand under system with contact force is presented. The principle of energy can be applied in the modelling of the impact force. In order to achieve stable contact and avoid bounces and vibrations, VSS is adopted in the design of the contact force controller. Some simulations are carried out for a pushing operation to control the contact force.

• Asian Pacific Journal of Cancer Prevention
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• v.14 no.2
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• pp.1159-1163
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• 2013

International meetings on various aspects of cancer- its etiology, its diagnosis, its treatment, its palliation, and its prevention and control are held frequently. Many have similar themes, and many seek and receive the same speakers and audiences. A fundamental question arises: what difference does any individual meeting/congress/conference make or add to our understanding of the relevant issues? While many meetings conduct evaluations at the end of the Congress, few use evaluation as a tool to guide design, implementation, and evaluation of both short and long term impacts, and address the question of "what difference did the Congress make". The International Cancer Control Congresses, which are held biennially in different regions of the world, took the opportunity to use evaluation in this way, and ask the relevant questions. This paper describes that evaluation session of the ICCC4, held in Seoul, Korea in November 2011, which was part of the larger evaluation issue.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.3
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• pp.5-12
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• 2008

This paper presents the features of an impact angle constrained open-loop optimal trajectory which is given by a function of initial conditions and optimal guidance gains. Using missile motion described by linearized kinematic equations and a proper form of performance index, an inverse optimal problem is suggested to investigate the gains related to the performance index. The flight trajectory and time-to-go can be shaped in terms of the optimal guidance gains. The results are evaluated by 3-DOF simulation.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.929-933
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion according to the fact whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it can possibly degrade the robot's performance such as vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing the simulation study.

• Journal of the Korea Safety Management & Science
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• v.9 no.5
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• pp.49-55
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• 2007

A special cause producing temporary deviation in the underlying process can influence on process adjustment in First-Order System feedback control system. In this paper, the impact of special causes on the forecasts and the process adjustment that is based on the EWMA forecasts are derived for a first-order system. For some special causes with patterned type of contamination, the influence of the causes on the output process are explicitly investigated. A data set, contaminated by a special cause of level shift, is analyzed to confirm the impact numerically.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.3
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• pp.253-270
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• 2015

Two major simultaneous attack strategies have been introduced, as one of cooperative attack of multiple missiles. One strategy is an undesignated time attack, in which the missiles communicate among themselves to synchronize the arrival times by reducing the mutual differences of times-to-go of multiple missiles during the homing. The other is a designated time attack, in which a common impact time is commanded to all members in advance, and thereafter each missile tries to home on the target on time independently. For this individual homing, Impact-Time-Control Guidance (ITCG) law is required. After introducing cooperative proportional navigation (CPN) for the first strategy, this article presents a new closed-form ITCG guidance solution for the second strategy. It is based on the linear formulation, employing base trajectories driven by PNG with various navigation constants. Nonlinear simulation of several engagement situations demonstrates the performance and feasibility of the proposed ITCG law.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.129-132
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• 1996

There is a tendency nowadays to produce increasingly miniaturized electronic equipment which incorporate parts that have to be precisely positioned, like lenses, heads and CCD's in scanners, printers, copiers, VCR's, optical fiber modules, etc. In contrast to the production process of precision parts, which is currently being carried out automatically, the assemblage process is still being performed by specially skilled technicians. The assemblage process comprises normally the following steps: firstly, the parts are roughly positioned and partially fixed, secondly, the parts are manually nudged towards the target position and finally glued, screwed or welded. This paper presents a system that uses six piezo Impact Drive Mechanisms for accurate micro positioning within three degrees of freedom (lateral and longitudinal translation and rotation). The system is designed to positioning a printed circuit board with an accuracy better than 3 .mu.m (for translations), 5 mrad (for rotation).

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1060-1065
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• 2003

This paper contributes to development of a new chip mounting head system for flip chip. Recently, the LDM(Linear DC Motor) has been widely used, because it has particular merits than the rotary type motors. In this paper, we proposed a macro/micro positioning system for force control of a chip mounting system. In the proposed macro/micro system, the macro actuator provide the system with a gross motion while the micro device yields fine tuned motion to reduce the harmful impact force that occurs between very small sized electronic parts and PCB surface. In order to prove the effectiveness of the proposed macro/micro chip mounting system, we compared the proposed chip mounting head with the conventional chip mounting head equipped with a macro actuator only. A series of experiments were executed under the mounting conditions of various access velocities and PCB stiffness. As a result of this study, a satisfactory voice coil actuator as the micro actuator has been developed, and its performance meet well the specifications desired for the design of the chip mounting head system and show good correspondence between theoretical analysis and experimental results.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.10a
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• pp.164-168
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• 1995

As nation's infrastructure is getting old, nondestructive evaluation of existing structures and construction quality control are getting important. In this paper non-destructive evaluations of concrete members using impact echo and SASW methods are introduced. Both techniques are based on the stress wave propagations. Experimental tests were performed using beam type concrete member where voids and cracks are included. Within reasonable accuracy, void locations were detected using impact echo method and the dynamic modulus of concrete were measured using SASW method. Both NDT methods showed a feasibility for the implementation into quality evaluaton of concrete members in practice

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.2
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• pp.338-347
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• 1995

Equations of motion and continuity equations of a hydraulic breaker are derived. Hydraulic pressures are defined with 6 state variables corresponding to 6 control volumes. Impact analysis procedure of the piston and chisel is developed based on the finite element nodal displacement description. Computer simulation is performed with given design parameters and the results are compared with experimental results.