• 제어로봇시스템학회논문지
• /
• 제6권7호
• /
• pp.568-577
• /
• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• Journal of Korea Trade
• /
• 제27권3호
• /
• pp.179-198
• /
• 2023

Purpose - There is a paucity of literature dealing with exporters' compliance issues in e-commerce exports. This study aims to fill this gap in the literature by exploring customs initiatives to facilitate the e-commerce exports of small and medium-sized enterprises (SMEs) in the changed compliance environment. The central question of this study was divided into five subquestions: first regarding the pros and cons of trade facilitation measures for Korean e-commerce export clearance; second and third questions about risk and compliance management for facilitation fourth about instruments, the changes in Korean SME compliance burden in e-commerce exports, and ways to improve trade facilitation for e-commerce exports. Design/methodology - This study adopts a qualitative approach using a case study method to understand the SME experience in Korean e-commerce export compliance procedures. A qualitative method was selected to answer research questions requiring an in-depth understanding of the regulatory procedures of customs administration and exporters' compliance burden. Because this study addresses the changing compliance environment for which statistical data is insufficient, a quantitative method is considered inappropriate. Based on the approach, data were collected using multiple sources, including an extensive literature review, interviews, and field observations. Thematic pattern matching was applied to interpret the data. Findings - This study examined ways to support SMEs in the changed e-commerce export compliance environment. Facilitation measures for e-commerce exports have contributed to SME access to global markets, simplifying export clearance procedures, and saving exporters' compliance costs. However, such instruments are limited in promoting SME compliance capabilities to cope with intensified competition and strengthened controls over foreign exporters in cross-border e-commerce. Therefore, this study highlights the importance of reshaping facilitation measures for e-commerce exports based on risk and compliance management theories to a system encouraging exporters' voluntary compliance. Originality/value - This study's academic significance derives from verifying the relationship between trade facilitation instruments and risk and compliance management procedures using an actual case in Korea. It is also of practical importance in navigating the directions for improving facilitation measures for e-commerce exports in a changed compliance environment.

• Journal of Electrical Engineering and Technology
• /
• 제13권2호
• /
• pp.1008-1020
• /
• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• The Journal of Asian Finance, Economics and Business
• /
• 제8권5호
• /
• pp.717-725
• /
• 2021

The study answers the awareness of taxpayers, tax authority services, tax socialization, tax collection, and account representative's controlling (monitoring) for compliance of the corporate Taxpayer. The study also examines the moderating effect of the tax audit to control the corporate Taxpayer's compliance. In this study, the method of non-probability sampling was used. The research data was gathered by handing out questionnaires at the Medan Kota Tax Office in Indonesia. The SEM method was used for data analysis through Lisrel 8.8 program. The findings of the study concluded that tax collection has a significant positive effect on corporate taxpayer's compliance and Tax audit moderates the relation between tax authority services and the account representative's controlling (monitoring) with corporate taxpayers' compliance. Also, tax socialization and account representative's controlling (monitoring) have a positive effect on the corporate taxpayer's compliance. In contrast, variables of taxpayer's awareness and tax authority services have a negative impact. Furthermore, tax audit does not moderate the relation between taxpayer awareness, tax socialization, and tax collection with the corporate taxpayer's compliance at Medan Kota Tax Office Indonesia. The findings suggest the Indonesian policymakers and tax authorities must create corporate legislation to handle compliance by leveraging the loopholes in tax legislation law and the tax audit system.

• 가정간호학회지
• /
• 제22권2호
• /
• pp.280-290
• /
• 2015

Purpose: The purpose of this study was to identify nursing students' knowledge, self-confidence in compliance, and compliance with standard precautions, and to identify predicting factors of compliance with standard precautions. Method: From May 18 to June 15, 2012, data were collected via questionnaire surveys from 222 nursing students of 2 colleges in G-province. Descriptive statistics, t-tests, Pearson correlation coefficients, and multiple regression analyses were used with SPSS 22.0 to analyze the data. Results: The average knowledge score was $0.89{\pm}0.08/1.0$, $3.59{\pm}0.57/4.0$ for self-confidence in compliance, and $0.91{\pm}0.11/1.0$ for compliance. Significant positive correlations were observed between knowledge and self-confidence in compliance(r=.14, p=.040), and between self-confidence in compliance and compliance(r=.25, p=.008). Self-confidence in compliance and blood and body fluid exposure were significant factors of compliance(F=5.46, p<.001). Conclusion: To increase nursing students' compliance with standard precautions, continuous efforts must be made to enhance self-confidence in compliance and decrease blood and body fluid exposure.

• 항공우주기술
• /
• 제11권2호
• /
• pp.216-224
• /
• 2012

본 연구는 국내에서 개발되는 KAS 23급 민간항공기에 대해 형식증명을 취득하기 위한 절차와 방법에 대해 기술하였다. 인증기준을 수립하고 형식증명 계획서에 따라 시험평가를 통해 적합성을 입증하는 절차와 적합성 입증 방안을 제시함으로써 정해진 기간 내 형식증명을 취득하는 것이 가장 중요하다고 하겠다. 본 절차는 미 FAA Order 8110.4C, 'Type Certification'과 국내규정을 참고하였으며 적합성 입증방법(MOC)을 정의하여 적합성 점검표(CCL) 작성 사례를 보여주고 있다. 또한 적합성 입증방법에 따라 시험평가 항목을 분류 하였고 그 방안을 제시하였다.

• 한국학교ㆍ지역보건교육학회지
• /
• 제19권1호
• /
• pp.71-83
• /
• 2018

Background & objectives: This study was aimed to identify the hand hygiene (HH) compliance and related factors among teachers working at child day care centers. Method: This study was done with 44 teachers working at home child day care center in Changwon. Data on hand hygiene compliance was measured using direct observation method from July to December, 2016 with structured observation sheet. Collected data was analyzed by descriptive statistics, and t-test or ANOVA using SPSS Statistics version 23.0. Result: Complete HH compliance rate was 54.0%, the highest in 'before having meals' (81.6%) and the lowest in 'after having meals' (25.8%). However, incomplete HH compliance rate was 34.5%, the highest in 'after contact with secretions' (47.8%) and the lowest in 'before having meals' (18.4%). The HH rate was related with working experience. Conclusion: The HH compliance rate among child care teachers was not satisfactory. About one quarter of child care teachers have taken hand hygiene related training. Therefore, child care teachers should be encouraged to participate in hand hygiene related education program regularly.

• 한국생산제조학회지
• /
• 제23권5호
• /
• pp.421-427
• /
• 2014

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.

• 산업기술연구
• /
• 제19권
• /
• pp.351-359
• /
• 1999

If the tactile sense is introduced to engineering and industries, it may provide more realistic virtual tactile sensing to human and it is possible to develop product that satisfy various consumer's taste. This paper presents a compliance emulator system as a new concept of tactile reproduction simulator which uses magnetic levitation in order to minimize friction and emulates compliance only along the vertical direction. Compliance is one of the important mechanical properties of the object related to tactile sensing of the human. The implemented system equipped with an analog LVDT sensor for a position sensor and employs a PD control with gravity compensation to emulate the specified compliance. To compensate the limited range of the system, the method of attaching the spring with various magnitude of stiffness to the system is adopted and its preliminary test is performed to confirm the validity of the method.

• 한국해양공학회지
• /
• 제12권1호
• /
• pp.65-75
• /
• 1998

The fracture resistance curve is one of most important and design techniques employed in nuclear pressure vessel structures. This study is to evaluate the J-R curve characteristics for the SA508C-3 by the unloading compliance method and load rato analysis. The effect of strain aging for the exponential correlation of the J-R curve in this metal are investigated at room temperature, 20$0^{\circ}C$ and 30$0^{\circ}C$. The load ratio analysis method can evaluate the J-R curve by using the simple tension load-displacement curve only without the repeat of the unloading and loading. Therefore, the analysis by the proposed load ratio method has a merit, in comparison with the unloading compliance method, which can measure the crack length without the precision measurement equipment.