• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.05a
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• pp.467-470
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• 2004

MANPro-based control is a novel control paradigm aimed at intelligent manufacturing systems on the basis of mobile agent-based negotiation process (MANPro). MANPro is a negotiation mechanism based on the agent-based control architecture and, especially, it adapts a mobile agent system called N-agent for the negotiation process. N-agent travels around the network of distributed manufacturing systems to acquire information, and it makes a decision for system control according to the obtained information. MANPro includes communication architecture and information architecture for intelligent shop floor control. MANPro also considers the following issues: (1) negotiation mechanism, (2) single-agent internal strategic policies, and (3) information model. Communication architecture concerns the first issue of the negotiation mechanism. It provides information exchanging mechanism with functional modules. In specific, N-agent is equipped with an intelligent reasoning engine with a built-in knowledge base. This reasoning engine is closely related to the single-agent internal strategic policies of the second issue. Finally, ontology-based information architecture addresses information models and provides a framework for information modeling on negotiation. In this paper, these three issues are addressed in detail and a framework of MANPro-based control is also proposed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.48-51
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• 1996

A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• Journal of Korea Trade
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• v.23 no.7
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• pp.128-146
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• 2019

Purpose - The purpose of this paper is to investigate the relationship between internal control, economic policy uncertainty, and performance of cross-border merger and acquisition (M&A) based on the panel data of Chinese listed firms. The authors expected that internal control has a positive moderating effect on the performance of cross-border M&A and that it mainly occurs during periods when economic policies are relatively stable. In addition, the authors tried to find out the mechanism of internal control affecting cross-border M&A and the corporate performance. Design/methodology - The authors tested the hypotheses by a multivariate regression model based on the panel data of Chinese listed firms from 2009 to 2017. The dependent variable is the change value of business performance (DROA_1,2,3) and the explanatory variables are cross-border M&A (MA), China's uncertainty of economic policy (EPU), and internal control level (IC) respectively. Findings - The authors find that internal control has a positive moderating effect on the relationship between cross-border M&A and corporate performance. Further, the authors find that the moderating effect is more significant in state-owned enterprises and that it mainly occurs during periods when economic policies are relatively stable. Originality/value - This paper is the leading study that tries to analyze empirically the relationship between internal control, economic policy uncertainty, and performance of cross-border M&A. It provides a new avenue through which internal control might reasonably mitigate the risks of cross-border M&A and correspondingly improve the performance of cross-border M&A. It also confirms the moderating effect of internal control on the performance of cross-border M&A under the uncertainty of economic policy.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.573-579
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• 2006

Most of the recently developed robots are human friendly robots which imitate an animal or human such as entertainment robot, biomimetic robot and humanoid robot. Interest in these robots is increased because the social trend is focused on health, welfare, and graying. By these social backgrounds, robots become more human friendly and suitable or home or personal environment. The more biomimetic robots resemble living creature, the more human feels familiarity. Human feels close friendship not only when feeding a pet, but also when watching a pet having the food. Most of entertainment robots and pet robots use internal-type batteries and have a self-recharging function. Entertainment robots and pet robots with internal-type batteries are not able to operate during charging the battery. So far there have been a few robots that do not depend on an internal battery. However, they need a bulky energy conversion unit and a slug or foods as an energy source, which is not suitable for home or personal application. In this paper, we introduce a new biomimetic entertainment robot with autonomous eating functionality, called EPRO-1(Eating Pet RObot version 1). The EPRO-1 is able to eat a food (a small battery), by itself and evacuate. We describe the design concept of the autonomous eating mechanism of the EPRO-1, characteristics of sub-parts of the manufactured mechanism and its control system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1506-1510
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• 2004

A mobile robot system is developed to inspect the condition of industrial facilities under hot environment. The mobile robot is equipped with internal and external heat insulating material, an internal cooling mechanism, two CCD cameras, wireless communication devices for both the control and image signals, and an embedded controller. The portable controller is equipped with two joysticks for both the mobile robot and the inspection CCD camera, an LCD monitor, and several buttons. The developed mobile robot travels on the internal floor in hot furnaces by operators' joystick operation, captures the images of facilities in the furnaces using a zoom CCD camera, and sends the images to the portable controller through wireless communication. The mobile robot can be operated without any problem under hot environment less than 400$^{\circ}C$ in 30 minutes. This kind of automatic inspection mobile robot can be helpful to prevent significant troubles of industrial facilities without danger of human beings under harmful environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.158-160
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• 1992

To control internal temperature distribution of moulding machine is very important in molding products such as Polycabonate. Nylon and PVDF. In this experiment, we developed temperature measurement system in order to control temperature of moulding machine. It was measured by telemetering system because of rotational mechanism. Form experimental results, it was sufficient to apply to moulding machine under 250 .deg C.

• The Journal of Internal Korean Medicine
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• v.30 no.3
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• pp.481-494
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• 2009

Background : Radix Sophora Flavescentis (SF) is used for the treatment of diabetes mellitus in Traditional Korean Medicine. However, little is known about the effects of Radix Sophora Flavescentis extract (SFE) on the hypoglycemic mechanism. Objective : We performed a series of experiments to verify the effects of SFE on the proliferation of RIN-m5F, the secretion and synthetic processes of insulin with glucose stimulation and inhibition of $\alpha$-glucosidase. Methods : Various amounts of SFE were added to the RIN-m5F cell culture to identify the effects on the cell proliferation, total amounts of insulin secretion, and related gene expression at the molecular level. Also to identify the inhibitory effect on the $\alpha$-glucosidase activities, ${\rho}NPG$ assay was done with various SFE concentrations followed by comparison with control. Results : SFE did not show considerable effects on RIN-m5F cells proliferation, insulin secretion or insulin mRNA expression, whichever phenomena did not depend on the glucose concentration. However, SFE significantly inhibited $\alpha$-glucosidase activity in a dose dependent manner compared to control. Conclusions : This study showed that SFE has potent $\alpha$-glucosidase inhibitory activity. Thus, SF may by used for the improvement of overall glycemic control. Further mechanism studies on the lipid toxicity and oxidation stress of SF seem to be necessary.

• Sleep Medicine and Psychophysiology
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• v.12 no.2
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• pp.105-110
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• 2005

The pathogenesis and mechanism of obstructive sleep apnea (OSA) has been under investigation for over 25 years, but its etiology and mechanism remains elusive. Skeletal (maxillary and/or mandibular hypoplasia or retrodisplacement, inferior displacement of hyoid) and soft tissue (increased volume of soft tissue, adenotonsillar hypertrophy, macroglossia, thickened lateral pharyngeal walls) factors, pharyngeal compliance (increased), pharyngeal muscle factors (impaired strength and endurance of pharyngeal dilators and fixators), sensory factors (impaired mechanoreceptor sensitivity, impaired pharyngeal dilator reflexes), respiratory control system factors (unstable respiratory control) and so on facilitate collapse upper airway. Therefore, OSA may be a heterogeneous disorder, rather than a single disease entity and various pathogenic factors contribute to the OSA varies person to person. As a result, patients may respond to different therapeutic approaches based on the predominant abnormality leading to the sleep-disordered breathing.