• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.7
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• pp.640-650
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• 1991

In the paper, the threepoint search algorithm used direct search method for optimal design is proposed. Proposed algorithm is composed of two iteration procedure to determine the minimum value of performance index. The minumum value of three-point existing in the inner N-order searching is firstly determined and next searching space is then reduced by the result of first procedure. To compute performance index. 3N iteration for a searching is necessary. 3N searching method is also described and confirmed with exception of parameter included multiphicator and divisor. Proposed algorithm have good stability and reliability when performance index is linear or quadratic function.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.

• Korean Journal of Applied Biomechanics
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• v.29 no.3
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• pp.157-166
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• 2019

Objective: This study examined the effects of stimulating fingertip temperature on the patterns of force sharing and stability properties during multi-finger force production tasks. Method: 9 adult subjects (male: 3, female: 6, age: $26.11{\pm}4.01yrs$, height: $169.22{\pm}5.97cm$, weight: $61.44{\pm}11.27kg$) participated in this study. The experiment consisted of three blocks: 1) maximal voluntary contraction (MVC) task, 2) single-finger ramp task to quantify enslaving (i.e., unintended force production by non-task fingers), and 3) 12 trials of multi-finger steady-state force production task at 20% MVC. There were three temperature conditions including body-temperature (i.e., control condition), $40^{\circ}C$, and $43^{\circ}C$, and the stimulation was given to the index finger only for all experimental conditions. Results: There were no significant differences in the MVC forces, enslaving, and the accuracy of performance during the steady-state task between the conditions. However, the share of stimulated index finger force increased with the index fingertip temperature, while the share of middle finger force decreased. Also, the coefficient of variation of both index and middle finger forces over repetitive trials increased with the index fingertip temperature. Under the framework of the uncontrolled manifold (UCM) hypothesis used to quantify indices of multi-finger synergies (i.e., stability property) stabilizing total force during the steady-state task, the two variance components within the UCM analysis increased together with the fingertip temperature, while no changes in the synergy indices between the conditions. Conclusion: The current results showed that fingertip temperature stimulation only to index finger does not affect to muscle force production capability of multi-finger, independence of individual fingers, and force production accuracy by the involvement of all four fingers. The effect of fingertip temperature on the sharing pattern and force variation may be due to diffuse reflex effects of the induced afferent activity on alpha-motoneuronal pools. However, the unchanged stability properties may be the reflection of the active error compensation strategies by non-stimulated finger actions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• International Commerce and Information Review
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• v.12 no.4
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• pp.171-192
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• 2010

In general, a stock index and its individual stocks are assumed to follow a random walk. A stock index is an important source of information and one that is seen by people everyday, regardless of their investment intentions. This paper examines the correlation between the KOSPI-the index that best reflects the Korean stock market and the macro - economic variables that have been found to influence the index by previous studies. The sample period considers the years after 2000 when the Korean stock market matured as restrictions on foreign investors were removed. For this purpose, a Vector Error Correction Model (VECM) and KOSPI equation with a general pacific approach were used. This paper aims at verifying the factors that determined the KOSPI after 2000 and at examining whether there was structural change in the investment environment. It also investigates changes in the factors determining the KOSPI's performance as a result of structural changes in the investment environment. The V AR (Vector Autoregressive) model including the nine variables was selected as a baseline model whose stability was tested using the unit root test. The results from the VECM and the structural changes in the investment environment can be summarized by the following Inner story points.

• Journal of Environmental Science International
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• v.30 no.12
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• pp.1081-1092
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• 2021

In this study, the effect on the stability of Aerobic Granular Sludge (AGS) caused by an AGS separator was investigated. The AGS separator was a hydrocyclone. The main factors of the AGS separator were filter pore size (0.125~0.600 mm), conical-to-cylindrical ratio (1.5~3.0), and operating time (1~20 min). The AGS/mixed liquor suspended solid (MLSS) ratio gradually increased to 0.500 mm (AGS/MLSS: 84.3±3.0%). AGS was best separated at the conical-to-cylindrical ratio of 2.5 (AGS/MLSS: 84.7±3.3%). As the operating time increased, the AGS separation performance also tended to increase. The shortest AGS separator run time, but the highest AGS separation performance was 10 min (87.0±2.5%). AGS stability was evaluated by operating the selected AGS separator and sequencing batch reactor. The average removal efficiencies of TOC, TCOD_Cr, SS, TN, and TP were 95.7%, 96.9%, 93.0%, 89.0%, and 96.2%, respectively, which met the effluent standards in Korea. In addition, the AGS/MLSS ratio tended to remain constant, and the sludge volume index demonstrated a tendency to decrease from 140 mL/g to 70 mL/g. During the operation, the particles of AGS in optical microscope observations gradually increased.

• Transactions on Electrical and Electronic Materials
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• v.18 no.5
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• pp.287-297
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• 2017

Novel power system stabilizers (PSSs) have been proposed to effectively dampen low frequency oscillations (LFOs) in multi-machine power systems and have attracted increasing research interest in recent years. Due to this attention, recently, fractional order controllers (FOCs) have found new applications in power system stability issues. Here, a tilt-integral-derivative power system stabilizer (TID-PSS) is proposed to enhance the dynamic stability of a multi-machine power system by providing additional damping to the LFOs. The TID is an extended version of the classical proportional-integral-derivative (PID) applying fractional calculus. The design of the proposed three-parameter tunable TID-PSS is systematized as a nonlinear time domain optimization problem in which the tunable parameters are adjusted concurrently using a modified group search optimization (MGSO) algorithm. An integral of the time multiplied squared error (ITSE) performance index is considered as the objective function. The proposed stabilizer is simulated in the MATLAB/SIMULINK environment using the FOMCON toolbox and the dynamic performance is evaluated on a 3-machine 6-bus power system. The TID-PSS is compared with both classical PID-PSS (PID-PSS) and conventional PSS (CPSS) using eigenvalue analysis and time domain simulations. Sensitivity analyses are performed to assess the robustness of the proposed controller against large changes in system loading conditions and parameters. The results indicate that the proposed TID-PSS provides the better dynamic performance and robustness compared with the PID-PSS and CPSS.

• Proceedings of the Korea Water Resources Association Conference
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• 2017.05a
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• pp.260-260
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• 2017

This study aims to compare the performance of TRIGRS (Transient Rainfall Infiltration and Grid-based Regional Slope-stability model) and TiVaSS (Time-variant Slope Stability model) in the prediction of rainfall-induced shallow landslides. TRIGRS employs one-dimensional (1-D) subsurface flow to simulate the infiltration rate, whereas a three-dimensional (3-D) model is utilized in TiVaSS. The former has been widely used in landslide modeling, while the latter was developed only recently. Both programs are used for the spatiotemporal prediction of shallow landslides caused by rainfall. The present study uses the July 2011 landslide event that occurred in Mt. Umyeon, Seoul, Korea, for validation. The performance of the two programs is evaluated by comparison with data of the actual landslides in both location and timing by using a landslide ratio for each factor of safety class ( index), which was developed for addressing point-like landslide locations. In addition, the influence of surface flow on landslide initiation is assessed. The results show that the shallow landslides predicted by the two models have characteristics that are highly consistent with those of the observed sliding sites, although the performance of TiVaSS is slightly better. Overland flow affects the buildup of the pressure head and reduces the slope stability, although this influence was not significant in this case. A slight increase in the predicted unstable area from 19.30% to 19.93% was recorded when the overland flow was considered. It is concluded that both models are suitable for application in the study area. However, although it is a well-established model requiring less input data and shorter run times, TRIGRS produces less accurate results.

• Journal of Physiology & Pathology in Korean Medicine
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• v.23 no.4
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• pp.908-913
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• 2009

This study was conducted to investigate the influence that it has on the application pre and post balance index using method with spiral and reaction point balance taping application against 20 stroke patients. The taping application pre and post static eye opening balance index was statistically no significant difference in the Mean X Speed, and the Extent in X Dirction but in the Mean Y Speed, the Velocity Moment, and Extent in Y Direction, there were statistically significant difference(p<0.05). The taping application pre and post static eye closing balance inde was statistically no significant difference in the Mean X Speed, in Y Direction, there were statistically significant difference(p<0.05). From above results, the method of the applied taping was the equilibrium stability performance of the Y-axis than the stability of the balance of the X-axis, therefore it is considered to study the taping application method in the balance of detail stroke patients.

• Journal of Convergence for Information Technology
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• v.11 no.2
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• pp.124-129
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• 2021

In this paper, an optimal controller design that guarantees absolute stability is proposed. The order of application of the thesis determines whether the delay time is included, and if the delay time is included, the delay time is approximated through the Pade approximation method. Then, the open loop transfer function for the process model and the controller transfer function is obtained, and the absolute stability interval is calculated by the Routh-Hurwitz discrimination method. In the last step, the optimal Proportional and Integral and Derivative(PID) control parameter value is calculated using a genetic algorithm using the interval obtained in the previous step. As a result, it was confirmed that the proposed method guarantees stability and is superior to the existing method in performance index by designing an optimal controller. If we study the compensation method for the delay time in the future, it is judged that better performance indicators will be obtained.