• 대한기계학회논문집A
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• 제28권12호
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• pp.1823-1832
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• 2004

In this paper, we proposed a TDC based F/T sensorless active compliance control algorithm for a rehabilitation robot (KARES II). The preference of compliance of the disabled is presented by clinical testing at Korea National Rehabilitation Center with the disabled. The KARES II was designed to work 12 predefined tasks which are very essential for helping the disabled. Among the tasks, some contact tasks between the robot and the disabled exist. Therefore, TDC based F/T sensorless compliance control algorithm is developed for these tasks without additional cost. We verified the proposed algorithm with experiment. Also for the practical use, suitable compliance for contact tasks is chosen by clinical testing at Korea National Rehabilitation Center.

• Journal of Korean Biological Nursing Science
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• 제24권2호
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• pp.104-112
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• 2022

Purpose: The purpose of this study was to investigate the levels and the relationship of emergency nurses' organizational culture and fatigue for infection control, and infection control compliance of COVID-19. Methods: Data was collected from 114 nurses caring for patients suspected of COVID-19 at two emergency medical centers in Gyeonggi-do and Seoul June 18-July 23, 2021. Results: Emergency nurses caring for patients suspected of COVID-19 suffered from high fatigue for infection control. The mean scores of the organizational culture and fatigue for infection control, and infection control compliance of COVID-19 were 51.80 ± 8.37 of 70 points, 78.46± 12.28 of 100 points and 71.02± 7.84 of 80 points, respectively. The higher infection control compliance of COVID-19 is significantly related to the higher organizational culture for infection control (r= .42, p< .001). Conclusion: In the COVID-19 pandemic, the formation of a positive organizational culture for infection control may be a priority as a major strategy to improve the infection control compliance of emergency nurses. It is also necessary to manage the high level of fatigue for infection control among emergency nurses.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• 한국생산제조학회지
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• 제23권5호
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• pp.421-427
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• 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.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 기본간호학회지
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• 제23권2호
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• pp.161-171
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• 2016

Purpose: This study was conducted to investigate factors influencing influenza infection control compliance in nurses, including knowledge about, and awareness of infection control. Methods: The study participants were 168 nurses who worked at a hospital in J Province. Data were collected by self-reported questionnaires in April 2015. Collected data were analyzed using SPSS/WIN 20.0 program. Results: Mean score for knowledge about droplet precaution was 12.16 out of 16.00. Mean score for awareness about droplet precautions was 3.49 out of 4.00, and mean score for droplet precaution compliance was 3.33 out of 4.00. There was a positive correlation among knowledge, awareness and compliance (p<.001). Awareness, knowledge and experience of seasonal influenza education were the significant factors affecting the level of compliance (37.8%). Conclusion: Study results indicate that an educational program focusing on strategies to change nurses' awareness would be effective in improving infection control of respiratory virus and droplet precaution compliance in hospitals.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.910-914
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• 2007

In this paper, an experimental study is performed to adjust position of compliance center of Elastomer Shear Pad Remote Center Compliance (ESP RCC) device, which is used on precise peg in hole process. In the study, variation of the lateral/axial stiffness of the ESP is proposed as a control parameter to adjust the position of compliance center of the ESP RCC. The variation of the stiffness of the ESP is achieved by controlling the shear stress of the ESP. To control the shear stress of the ESP, position of top side of the ESP is changed while remaining bottom side of the ESP is fixed on the RCC plate. To evaluate effect of the proposed idea, stiffness variations of the ESP on various shear stresses are measured, and variation of the compliance center is measured with the ESP RCC that can control the position of compliance center by using the shear stress. The measured data shows unique characteristics that have not been shown in other types of ESP VRCCs.

• 아동학회지
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• 제35권6호
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• pp.135-152
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• 2014

The main purpose of this study was to examine the mediating effects of maternal control strategies on the relationship between preschoolers' temperament and compliance/noncompliance. A total of 125 mothers with preschoolers aged 3 and 4 years participated in this study. Preschoolers' temperament was reported by mothers. Maternal control strategies and preschoolers' compliance/noncompliance were observed in the laboratory using a clean-up task. There were four major findings. First, preschoolers with higher levels of activity exhibited less compliance, and preschoolers with higher levels of adaptability and activity displayed more noncompliance. Second, preschoolers whose mothers used fewer commands and more compliments displayed more compliance and less noncompliance. Third, mothers who rated their children higher in activity level used more commands with their children. Finally, the use of maternal commands mediated the association between preschoolers' activity level and compliance/noncompliance. When preschoolers' activity level and maternal control strategies were considered together to predict preschoolers' compliance/noncompliance, the relationship between activity level and compliance/noncompliance became nonsignificant. These findings suggest that the effects of temperament on compliance/noncompliance are indirect through maternal control strategies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.588-588
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• 1991

This paper proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, we need more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adapitive controllers have difficulty in realtime processing. So in order to overcome it, We adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. We analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.2986-2988
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• 1999

This paper presents a new concept to implement and to control of tactile reproduction simulator by implementation of compliance emulator system. Compliance emulator system is a kind of levitation system using magnetic force. In the compliance emulator system, a floated plate moves vertically. When an external force is applied to the plate, the system produces a controlled reaction force by using 6 electromagnet. For the control, a LVDT displacement sensor and PD control method is used.