• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.

• Smart Structures and Systems
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• 제19권4호
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• pp.351-360
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• 2017

Protection of structures against natural hazards such as earthquakes has always been a major concern. Semi-active control combines the reliability of passive control and versatility and adaptability of active control. So it has recently become a preferred control method. This paper proposes an algorithm based on Uniform Deformation Theory to mitigate vulnerable buildings using magneto-rheological (MR) damper. Due to the successful performance of fuzzy logic in control of systems and its simplicity and intrinsically robustness, it is used here to regulate MR dampers. The particle swarm optimization (PSO) algorithm is also used as an adaptive method to develop a fuzzy control algorithm that is able to create uniform inter-story drifts. Results show that the proposed algorithm exhibited a desirable performance in reducing both linear and nonlinear seismic responses of structures. Performance of the presented method is indicated in compare with passive-on and passive-off control algorithms.

• Journal of Mechanical Science and Technology
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• 제17권5호
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• pp.708-717
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• 2003

With the development of precision manufacturing technologies, the importance of precision positioning devices is increasing. Conventional actuators, dual stage or mechanically contacting type, have limitation in coping with performance demands. As a possible solution, magnetic suspension technology was studied. Such a contact-free system has advantages in terms of high accuracy, low production cost and easy adaptability to high precision manufacturing processes. This paper deals with magnetically suspended multi-degrees of freedom actuator which can realize large linear motion. In this paper, the operating principle is explained with the magnetic force analysis, and the equations of motion are derived. Experimental results of the implemented system are also given.

• BMB Reports
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• 제47권3호
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• pp.158-166
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• 2014

Cell proliferation is a delicately regulated process that couples growth signals and metabolic demands to produce daughter cells. Interestingly, the proliferation of tumor cells immensely depends on glycolysis, the Warburg effect, to ensure a sufficient amount of metabolic flux and bioenergetics for macromolecule synthesis and cell division. This unique metabolic derangement would provide an opportunity for developing cancer therapeutic strategy, particularly when other diverse anti-cancer treatments have been proved ineffective in achieving durable response, largely due to the emergence of resistance. Recent advances in deeper understanding of cancer metabolism usher in new horizons of the next generation strategy for cancer therapy. Here, we discuss the focused review of cancer energy metabolism, and the therapeutic exploitation of glycolysis and OXPHOS as a novel anti-cancer strategy, with particular emphasis on the promise of this approach, among other cancer metabolism targeted therapies that reveal unexpected complexity and context-dependent metabolic adaptability, complicating the development of effective strategies.

• 대한조선학회논문집
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• 제45권3호
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• pp.247-257
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• 2008

In this paper, a free running system, which is developed recently for a 2m-class ship models, will be introduced. For the remote control of hardware, GUI of software packages was developed using Visual Basic 6.0, and Host PC with Positioning Board manages Servo drive. Then the drive operates propeller and rudder. Its control performance will be shown. Also its adaptability to the resistance, manoeuverability and seakeeping model tests will be considered through the installation on a KTTC standard ship model from MOERI.

• 전기학회논문지
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• 제63권5호
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.

• Journal of Information Processing Systems
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• 제10권1호
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• pp.92-102
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• 2014

In recent years, there has been growing interest in secure pairing, which refers to the establishment of a secure communication channel between two mobile devices. There are a number of descriptions of the various types of out-of-band (OOB) channels, through which authentication data can be transferred under a user's control and involvement. However, none have become widely used due to their lack of adaptability to the variety of mobile devices. In this paper, we introduce a new OOB channel, which uses accelerometer-based gesture input. The gesture-based OOB channel is suitable for all kinds of mobile devices, including input/output constraint devices, as the accelerometer is small and incurs only a small computational overhead. We implemented and evaluated the channel using an Apple iPhone handset. The results demonstrate that the channel is viable with completion times and error rates that are comparable with other OOB channels.

• Journal of Information Processing Systems
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• 제15권1호
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• pp.137-150
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• 2019

Although the research of immune-based anomaly detection technology has made some progress, there are still some defects which have not been solved, such as the loophole problem which leads to low detection rate and high false alarm rate, the exponential relationship between training cost of mature detectors and size of self-antigens. This paper proposed an intrusion detection method based on changes of antibody concentration in immune response to improve and solve existing problems of immune based anomaly detection technology. The method introduces blood relative and blood family to classify antibodies and antigens and simulate correlations between antibodies and antigens. Then, the method establishes dynamic evolution models of antigens and antibodies in intrusion detection. In addition, the method determines concentration changes of antibodies in the immune system drawing the experience of cloud model, and divides the risk levels to guide immune responses. Experimental results show that the method has better detection performance and adaptability than traditional methods.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.747-756
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• 2022

The purpose of this study was to identify the influence of hospital nurses' communication competence on resilience. Participants were 178 nurses who were from 5 general hospitals located in Seoul, Gyeonggi-do province in Korea. The data were collected from September 5 to 19, 2021 and analyzed using t-test, ANOVA, Pearson correlation coefficient and multiple regression with SPSS/WIN 22.0 program. The average score of communication competence was 3.57 and resilience was 3.43 points. The total correlations was .68 between communication competence and resilience. Communication competence explained 50% of the total variance of resilience(ρ<.001). Communicative effectiveness(β=.24, ρ<.001), immediacy(β=.19, ρ=.01), assertiveness(β=.15, ρ=.03) and social adaptability(β=.16 ρ=.02) were the significant factors influencing on resilience of hospital nurses. The findings suggest that we need to make efforts to increase the specific factors of communication competence affecting on resilience of nurses.

• 로봇학회논문지
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• 제19권1호
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• pp.39-44
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• 2024

This study introduces a novel method for predicting the shape of soft catheter robots embedded with electromagnets. As an advancement in the realm of soft robotics, these catheter robots are crafted from flexible and pliable materials, ensuring enhanced safety and adaptability during interactions with human tissues. Given the pivotal role of catheters in minimally invasive surgeries (MIS), our design stands out by facilitating active control over the orientation and intensity of the inbuilt electromagnets. This ensures precise targeting and manipulation of the catheter segments. The research encompasses a comprehensive breakdown of the magnetic modeling, tracking algorithms, experimental layout, and analytical techniques. Both simulation and experimental results validate the efficacy of our method, underscoring its potential to augment accuracy in MIS and revolutionize healthcare-oriented soft robotics.