• Advances in robotics research
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• v.2 no.1
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• pp.69-97
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• 2018

Innovation is considered as key to ensure continuous advancement and firm progress in any field. Robotics, with no exception, has gained triumph and approval based on its strength to address divers range of applications as well as its capacity to adapt new ways and means to enhance its applicability. The core of novelty in robotics technology is the perpetual curiosity of human beings to imitate natural systems. This desire urges to continuously explore and find new feet. In the past, contemporary machines, in different shapes, sizes and capabilities, were developed that can perform variety of tasks. The major advantage of these developments was the ability to exhibit superior control, strength and repeatability than the corresponding systems they were replicating. However, these systems were rigid and composed of hard an underlying structure, which is a constraint in bringing into being the compliance that exists in natural organisms. Inspiration of achieving such compliance and to take the full advantage of the design scheme of biological systems compelled researchers and scientists to develop systems avoiding conventional rigid structures. This ambition, to produce biological duos, needs soft and more flexible materials and structures to realize innovative robotic systems. This new footpath to craft biological mockups facilitates further to exploit new materials, novel design methodologies and new control techniques. This paper presents an appraisal on such innovative comprehensions, conferring to their design specific importance. This demonstration is potentially useful to prompt the novelty of soft robotics.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1101-1105
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• 2011

Radiation particles can introduce temporary errors in memory systems. To protect against these errors, so-called soft errors, error detection and correcting codes are used. In addition, scrubbing is applied which is a fundamental technique to avoid the accumulation of soft errors. This paper introduces an optimal scrubbing scheme, which is suitable for a system with auto error detection and correction logic. An auto error detection and correction logic can correct soft errors without CPU's writing operation. The proposed scrubbing scheme leads to maximum reliability by considering both allowable scrubbing load and the periodic accesses to memory by the tasks running in the system.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.193-197
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• 2001

This paper presents a novel circuit topology of the double two-switch forward type high frequency transformer linked soft-switching PWM DC-DC power converter with tapped inductor filters that can operate under a condition of the low peak voltage stress across the power semiconductor devices and lowered peak current stress through the transformer for some high power applications. This circuit topology of an interleaved two-switch forward soft-switching power converter is proposed in the order to minimize an idle circulating current due to the tapped inductor filter without of any additional active auxiliary resonant-assisted snubber circuits, such as active resonant DC link snubbers and AC link snubbers, active resonant commutation leg link snubbers. The unique advantages of this power converter are less power circuit components and power semiconductor devices, constant frequency PWM scheme, cost effective configuration and wider soft-switching PWM operation range under PWM power regulations load variations. The practical effectiveness of the proposed soft-switching converter circuit topology is tested by simulations and is proved by experimental results received from the 500W-100kHz breadboard setup.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.531-537
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• 2015

Hand function is one of the essential functions required to perform the activities of daily living, and wearable robots that assist or recover hand functions have been consistently developed. Previously, wearable robots commonly employed conventional robotic technology such as linkage which consists of rigid links and pin joints. Recently, as the interest in soft robotics has increased, many attempts to develop a wearable robot with a soft structure have been made and are in progress in order to reduce size and weight. This paper presents the concept of a soft wearable robot composed of a soft structure by comparing it with conventional wearable robots. After that, currently developed soft wearable robots and related issues are introduced.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.91-96
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• 2002

Research and case study on implementing Knowledge Management (KM) in various fields have been published. However, KM could be misunderstood as developed Information Technology (IT) rather than a managerial tool to support knowledge creation in an organization unless the theoretical background on the evolution of KM is rigorously considered. This paper aims to review philosophy of science and managerial trends that can explain the reasons for introducing KM into the industry. Based on this theoretical background, Soft Systems Method (SSM), one of method to facilitate knowledge flows, are explained. SSM has been developed to cope with the characteristics of knowledge distinguished from data and information. Further research topics relevant to SSM in construction management as a practical application and educational tool are presented.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.557-562
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• 2007

This paper extends the work of Maji et al. (2001) to present the concept of interval-valued fuzzy soft sets and to present an algorithm for finding where the degree of membership are represented by interval values in [0, 1]. The proposed method is more flexible than the one presented in Maji et at. (2001) due to the fact that it allows the degrees of membership of object for parameters to be represented by interval-values rather than crisp real values between zero and one.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.168-174
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• 2012

This paper presents a bending propagating actuation using SMA (Shape Memory Alloy) spring for an effective shape transition of a flytrap-inspired soft morphing structure. The flytrap-inspired soft morphing structure is made from unsymmetric CFRP (Carbon Fiber Reinforced Prepreg) structure which shows bi-stability and snap-through phenomenon. For a thin and large curved bistable CFRP structure, SMA spring is more acceptable than SMA wire and piezoelectric actuator which used in previous investigations. A bending propagating actuation is proposed which can induce snap-through of the bi-stable CFRP structure effectively. From this research, effective shape transition of soft morphing structure is possible.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.9
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• pp.1596-1612
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• 2011

Coordinated Multi-Point (CoMP) transmission / reception is being studied in Long Term Evolution-Advanced (LTE-A) for future evolution of the $3^{rd}$ Generation Partnership Project (3GPP) LTE. Support of soft handover is essential for improving the performance of cell edge users. CoMP provides a natural framework for enabling soft handover in the LTE system. This paper evaluates the soft handover gain in LTE-A downlink. Mathematical analysis of signal to interference plus noise ratio (SINR) gain and the handover margins for soft handover and hard handover are derived. CoMP system model is developed and an inter-cell and intra-cell interference model is derived, taking into account the pathloss, shadowing, cell loading, and traffic activity. Reference signal received power (RSRP) is used to define the triggers and the measurements for soft handover. Our results indicate that parameter choices such as handover margin and the CoMP set size impact CoMP performance gain.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.2
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• pp.71-76
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• 2011

The problem of decision making under imprecise environments are widely spread in real life decision situations. We present a method of object recognition from imprecise multi observer data, which extends the work of Roy and Maji [J Compu. Appl. Math. 203(2007) 412-418] to generalized intuitionistic fuzzy soft set theory. The method involves the construction of a comparison table from a generalized intuitionistic fuzzy soft set in a parametric sense for decision making.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.79-85
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• 2021

Soft fluidic actuators (SFAs) are widely utilized in various areas such as wearable systems due to the inherent compliance which allows safe and flexible interaction. However, SFA-driven systems generally require a large pump, multiple valves and tubes, which hinders to develop a miniaturized system with small range of motion. Thus, a highly integrated soft actuator needs to be developed for implementing a compact SFA-driven system. In this study, we propose an electro-hydraulic soft zipping actuator that can be used as a miniature pump. This actuator exerts tactile force as a dielectric liquid contained inside the actuator pressurized its deformable part. In addition, the proposed actuator can estimate the internal dielectric liquid thickness by using its self-sensing function. Besides, the electrical characteristics and driving performance of the proposed system were verified through experiments.