• Journal of Korean Medical classics
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• v.27 no.4
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• pp.29-38
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• 2014

Objectives : In ministerial-fire theory(相火論) of Zhu Dan-Xi(朱丹溪), the meanings of monarch-fire(君火) and ministerial-fire(相火) described in papers published nowadays are not the same. Therefore, it is necessary to rebuild a clear concept. Methods : To understand the relationships among 'heaven(天)'-'human(人)' and 'name(名)'-'position(位)', the core concept of the ministerial-fire theory(相火論) of Zhu Dan-Xi(朱丹溪), I examined the relationships between 'heaven(天)' and 'human(人)' in Neo-Confucianism(性理學) of Song(宋) Dynasty and reviewed the notes of Wang Bing(王冰) which were quoted by Zhu Dan-Xi(朱丹溪) to set the concept of monarch-fire(君火) and ministerial-fire(相火). I studied relevant texts. Results : In ministerial-fire theory(相火論) of Zhu Dan-Xi(朱丹溪), monarch-fire(君火) is perceived as being from greed(人欲) that can cause hyperactivity(妄動) of ministerial-fire(相火), whereas ministerial-fire(相火) is perceived as being able to control monarch-fire(君火) by following the orders from heaven. This point of view is different from the past which recognized monarch-fire (君火) as the owner and ministerial-fire(相火) as the servant. Conclusions : Zhu Dan-Xi(朱丹溪) received the ideological impact of Neo-Confucianism, and accepted the notes of Wang Bing, recognized monarch-fire(君火) as 'name(名)' and ministerial-fire(相火) as 'position(位)', so he voiced the ministerial-fire theory(相火論) that perceived monarch-fire(君火) as fire(火) of the five processes(五行) of human body that came from greed, ministerial-fire(相火) as being in a position to hear the order from the 'heaven(天)' to control monarch-fire(君火). But the concept of ministerial-fire(相火) which he set connoted a confusing meaning of 'nature(性)' and 'way(道)' of Neo-Confucianism. In the later process to solve the problem, life-gate theory(命門學說) was raised, and many researchers had tried to remove the meaning of hyperactivity from the ministerial-fire(相火).

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.1
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• pp.16-24
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• 2011

In this paper, we propose a new guidance law for target observability enhancement, which can control both terminal impact angle and acceleration. The proposed guidance law is simple form, combined conventional time-to-go polynomial guidance and a additional bias term which consists of relative position and proportional gain. The guidance law provides oscillatory flight trajectory and it maintains the conventional time-to-go polynomial guidance performance. To investigate the characteristics of the guidance law, we derive the closed-form solution, and various simulations are performed for proving the validity of the proposed guidance.

• Journal of KSNVE
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• v.2 no.1
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• pp.49-59
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• 1992

The motion analysis of a translation device driven by a piezoelectric actuator is performed to identify the mechanics of impact drive mechanism and to find the maximum speed waveform. The translation device is modeled as a semidefinite two-degree-of-freedom system. The motion analysis includes effects of friction force between moving mass and contact surface, dynamics of voltage amplifier and piezoelectric elements, and hysteresis of piezoelectric actuator. Base on the model, simulation studies are carried out and then compared with experimental results. It is found that the error between moving distances obtained by analysis and experiment is less than 15% and that the actual motion of moving mass is well predicted by the analytical work, finally, precision positioning experiments are carried out by using a proximity sensor as a feedback sensor. Position control of moving mass is initiated by the maximum speed waveform and finely tuned by the scaled down waveform so that accurate positioning is accomplished within the resolution of the sensor.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.48-57
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• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• Journal of radiological science and technology
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• v.46 no.5
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• pp.395-399
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• 2023

The knee arthritis patients are generally performed standing position radiography. However, patients with pain caused by degenerative diseases or injuries in the knee have difficulty maintaining a standing position. Therefore, this study aims to develop a knee joint standing weight bearing projection assist device to solve these problems when patients undergo knee radiography due to various diseases. The design of the knee joint weight-bearing radiography assist device is carried out with 3D design and drawing production to secure basic data, electric support and frame manufacture. A fixed device for maintaining the patient's knee standing weight-bearing projection, an electric digital height device, a digital protractor, and a safety device were designed. The arm support is made of PVC with a cushion to relieve the impact and make it easier to remove debris. The digital electric device can be moved up and down according to the patient's height, and a remote control is attached. The safety device is made to be adjustable in size by attaching metal hooks on both sides of the frame and to shield the scrotum. A digital protractor was attached to the side frame to set the desired knee angle. When a self-made assist device was used to perform a knee joint standing weight bearing projection, it helped maintain arm support and lower extremities position. In addition, the height could be adjusted using an assist device during standing projections, which helped the patient maintain the position.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.2
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• pp.289-295
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• 2021

This study investigates the role of corporate governance in the dividend decision of 198 non-financial companies listed on the Colombo Stock Exchange of Sri Lanka, over the period from 2009 to 2016. Four corporate governance indicators are used in this study; managerial ownership, the board size, board independence, and CEO duality. Furthermore, this study considers three control variables such as profitability, firm size, and corporate tax. This study employed the Generalized Method of Moments (GMM) model to estimate the regression models on panel data study. The major contribution of this study is exploring the insight into the effect of corporate governance factors on dividend decisions. The results of the study revealed that managerial ownership showed a significant positive impact on the dividend payout ratio. Board size showed a significant positive influence on the dividend payout ratio. Board independence negatively but significantly influenced the dividend payout ratio. CEO duality showed an insignificant negative impact on the dividend payout ratio. In the framework of these CG indicators, Sri Lankan listed firms are recommended to have dispersed ownerships, large Board size and maintain a balance of power and authority by separating the individual who is assuming the position of the CEO from the Chairperson of the Board and maintain at least two independent directors.

• Safety and Health at Work
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• v.13 no.4
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• pp.469-474
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• 2022

Background: Nowadays, counter-productive work behaviors (CWBs) have turned into a common and costly position for many organizations and especially health centers. Therefore, the study was carried out to examine and compare the demand-control-support (DCS) and effort-reward imbalance (ERI) models as predictors of CWBs. Methods: The study was cross-sectional. The population was all nurses working in public hospitals in Hamadan, Iran of whom 320 were selected as the sample based on simple random sampling method. The instruments used were Job Content Questionnaire, Effort-Reward Imbalance Questionnaire, and Counterproductivity Work Behavior Questionnaire. Data were analyzed using correlation and regression analysis in SPSS18. Results: The findings indicated that both ERI and DCS models could predict CWB (p ≤ 0.05); however, the DCS model variables can explain the variance of CWB-I and CWB-O approximately 8% more than the ERI model variables and have more power in predicting these behaviors in the nursing community. Conclusion: According to the results, job stress is a key factor in the incidence of CWBs among nurses. Considering the importance and impact of each component of ERI and DCS models in the occurrence of CWBs, corrective actions can be taken to reduce their incidence in nurses.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.256-263
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• 1993

The integration of deburring robots into product quality and productivity impact the industrial. In this paper the intelligent system of robotic deburring is proposed integrated with robot system, image processing system, force sensor system and host PC. The size, position, recognition of burr is determined by the information that the image processing system processed. The feed velocity of cutting tool is controlled by the information that the force sensor system processed. The integration of these information can remove the uncertainty of the information of deburring on the cutting path. The result of these technologies is useful for the development of the factory automation and automatic inspection equipments.

• Archives of Plastic Surgery
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• v.41 no.1
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• pp.57-62
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• 2014

Background Achieving symmetry is a key goal in breast reconstruction. Anatomically shaped tabbed expanders are a new tool in the armamentarium of the breast reconstruction surgeon. Suture tabs allow for full control over the expander position and thus inframammary fold position, and, in theory, tabbed expanders mitigate many factors responsible for poor symmetry. The impact of a tabbed expander on breast symmetry, however, has not been formally reported. This study aims to evaluate breast symmetry following expander-implant reconstruction using tabbed and non-tabbed tissue expanders. Methods A chart review was performed of 188 consecutive expander-implant reconstructions that met the inclusion criteria of adequate follow-up data and postoperative photographs. Demographic, oncologic, postoperative complication, and photographic data was obtained for each patient. The photographic data was scored using a 4-point scale assessing breast symmetry by three blinded, independent reviewers. Results Of the 188 patients, 74 underwent reconstruction with tabbed expanders and 114 with non-tabbed expanders. The tabbed cohort had significantly higher symmetry scores than the non-tabbed cohort ($2.82/4{\pm}0.86$ vs. $2.55/4{\pm}0.92$, P=0.034). Conclusions The use of tabbed tissue expanders improves breast symmetry in tissue expander-implant-based breast reconstruction. Fixation of the expander to the chest wall allows for more precise control over its location and counteracts the day-to-day translational forces that may influence the shape and location of the expander pocket, mitigating many factors responsible for breast asymmetry.